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Trajectory modification considering dynamic constraints of autonomous robots.pdf
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上传时间: 2020-07-28
详细说明：The classic "elastic band" deforms a path generated by a global planner with respect to the shortest path length while
avoiding contact with obstacles. It does not take any dynamic constraints of the underlying robot into account directly.
This contribution introduces a new approach called "timed elastic band" which explicitly considers temporal aspects of
the motion in terms of dynamic constraints such as limited robot velocities and accelerations. The "timed elastic band"
problem is formulated in a weighted multi-objective optimization framework. Most objectives are local as they depend
on a few neighboring intermediate configurations. This results in a sparse system matrix for which efficient large-scale
constrained least squares optimization methods exist.
Results from simulations and experiments with a real robot demonstrate that the approach is robust and computationally
efficient to generate optimal robot trajectories in real time. The "timed elastic band" converts an initial path composed of
a sequence of way points into a trajectory with explicit dependence on time which enables the control of the robot in real
time. Due to its modular formulation the approach is easily extended to incorporate additional objectives and constraints.
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