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Bezier Curves : Fast Trajectory Generation FAST TRAJECTORY GENERATION USING BEZIER CURVES
| Content Provider | Semantic Scholar |
|---|---|
| Author | Fixter, Melissa |
| Copyright Year | 2003 |
| Abstract | ABSTRACT: Many real world applications require the coexistence of robots with humans and machinery, including other robots. The unpredictable nature of such environments necessitates that path planning and obstacle avoidance be performed in real-time. This paper presents Bezier curves as the basis of a new method for the fast generation of a continuous, time-parameterised trajectory without the need for calculating complex configuration spaces. A Bezier curve of degree n is specified by n + 1 control points that have weighting functions associated with them. The curve passes through the first and last control points and is pulled towards the intermediate control points. By assigning the first and last control points to the initial and goal end effector positions, and positioning the intermediate control points relative to the location of obstacles within the robot’s workspace, it is possible to produce rapidly a collision-free trajectory that curves around obstacles. This technique thus offers a viable solution to path planning in dynamic and unpredictable environments, as illustrated in this paper with a multi-link robot manipulator. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.cs.mu.oz.au/~bir/auscc03/papers/fixter-auscc03.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
