NDLI: Practical high curvature path planning algorithm in joint space

Content Provider	IET Digital Library
Author	Delgado, Raimarius Choi, Byoung Wook
Abstract	A practical high curvature path planning algorithm that considers the velocity limit of a mobile robot in joint space is proposed. The existence of obstacles that constrict the smooth movement of mobile robots is inevitable. To avoid incoming collision, the robot is redirected to a new path with respect to the dimensions of the obstacle and a safety factor. The redirected path consists of geometric constraints such as high curvatures on its turning points which cause difficulty in controlling the mobile robot. Thus, a central velocity generation method that considers both velocity limits through a convolution operator and high curvatures at turning points is suggested. The central velocity is able to be within the configured velocity limit, otherwise actual velocity commands in joint space could result. Therefore, interpolation to obtain uniform sampling and velocity downscaling is performed to generate a feasible joint space trajectory. The result shows short travelling time compared with previous methods while satisfying velocity limits in the joint space.
Starting Page	469
Ending Page	471
Page Count	3
ISSN	00135194
Volume Number	51
e-ISSN	1350911X
Issue Number	Issue 6, Mar (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/el/51/6
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/el.2014.3926
Journal	Electronics Letters
Publisher Date	2015-03-04
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Acceleration Actual Velocity Commands Central Velocity Generation Method Convolution Operator Geometric Constraint Interpolation Interpolation And Function Approximation Joint Space Trajectory Mobile Robot Control Mobile Robots Numerical Analysis Path Planning Practical High Curvature Path Planning Algorithm Rotation Control Safety Factor Spatial Variables Control Velocity Velocity Control Velocity Downscaling
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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