Axis-coupled trajectory generation for chains of integrators through smoothing splines
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AbstractIntegrator based model is used to describe a wide range of systems in robotics. In this paper, we present an axis-coupled trajectory generation algorithm for chains of integrators with an arbitrary order. Special notice has been given to problems with pre-existing nominal plans, which are common in robotic applications. It also handles various type of constraints that can be satisfied on an entire time interval, including non-convex ones which can be transformed into a series of convex constraints through time segmentation. The proposed approach results in a linearly constrained quadratic programming problem, which can be solved effectively with off-the-shelf solvers. A closed-form solution is achievable with only the boundary constraints considered. Finally, the proposed method is tested in real experiments using quadrotors which represent high-order integrator systems. © 2019, Editorial Board of Control Theory & Applications, South China University of Technology and Springer-Verlag GmbH Germany, part of Springer Nature.
Acceptance Date29/10/2018
All Author(s) ListS. Lai, M. Lan, K. Gong, B. M. Chen
Journal nameControl Theory and Technology
Volume Number17
Issue Number1
Place of PublicationChina
Pages48 - 61
LanguagesEnglish-United States
KeywordsB-spline, trajectory generation, chains of integrators

Last updated on 2021-01-12 at 23:40