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This paper presents a new formulation to the waypoints following control of mobile robotic platforms, which directly uses the original waypoints sequence, typically obtained from discrete path planning, in order to achieve proper motion behaviors with regards to speed transitions, overall motion duration and path smoothness. The approach produces realtime smooth effective paths while ensuring waypoints...
In this paper, we develop an asymmetric s-curve profile method with jerk bounded to obtain high-precision motion and reduce the residual vibration. All possible instances for asymmetric s-curve profile planning are analyzed. The algorithm and its implementation are proposed with a direct and complete method. Simulation results are presented to verify the effectiveness and reliability of the proposed...
This paper presents an approach to time-optimal kinodynamic motion planning for a mobile robot. A global path planner is used to generate collision-free straight-line paths from the robot's position to a given goal location. With waypoints of this path, an initial trajectory is generated which defines the planned position of the robot over time. A velocity profile is computed that accounts for constraints...
This paper presents two ways to make solid modelling, defining the solid surface as a trajectory of a particle. The first one implements an existing method, where the trajectory of a particle is seen as a rational Bezier curve, so a dual quaternionic parametrization of mentioned trajectory is done. In the second one an original method based on a quaternionic representation of a Simple Harmonic Motion...
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