Paper Info
Title
Timed-Elastic Smooth Curve Optimization For Mobile-Base Motion Planning
Abstract
This paper proposes the use of piecewise C-n smooth curve for mobile-base motion planning and control, coined Timed-Elastic Smooth Curve (TESC) planner. Based on a Timed-Elastic Band, the problem is defined so that the trajectory lies on a spline in SE(2) with non-vanishing n-th derivatives at every point. Formulated as a multi-objective nonlinear optimization problem, it allows imposing soft constraints such as collision-avoidance, velocity, acceleration and jerk limits, and more. The planning process is realtime-capable allowing the robot to navigate in dynamic complex scenarios. The proposed method is compared against the state-of-the-art in various scenarios. Results show that trajectories generated by the TESC planner have smaller average acceleration and are more efficient in terms of total curvature and pseudo-kinetic energy while being produced with more consistency than state-of-the-art planners do.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8968240
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Motion planning,Spline (mathematics),Total curvature,Computer science,Mathematical analysis,Jerk,Control engineering,Acceleration,Smoothness,Trajectory,Piecewise
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Jeremie Deray122.07
Bence Magyar211.03
Joan Solà327719.66
Juan Andrade-Cetto41404251.42