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A trajectory generation method for mobile robot based on iterative extension-like process

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Abstract

In this paper, we propose a trajectory generation method for mobile robot based on iterative extension-like process. Due to use mobile robots in the real world, trajectory generation must be done depending on the faced situation on each occasion. Proposed method enables online iterative trajectory extension process based on a low-order polynomial curve named as trajectory segment. The waypoints on the existing trajectory segment and a waypoint designated every fixed interval are the constraints to trigger the trajectory extension. For maintaining the smooth continuity of the trajectory, the velocity state must be sustained at the connecting point. Resultantly, the trajectory segments are organized into a single smooth trajectory.

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Authors and Affiliations

  1. Japan Atomic Energy Agency, 1-22, Yamadaoka, Naraha, Futaba, Fukushima, 979-0513, Japan

    Kuniaki Kawabata

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  1. Kuniaki Kawabata
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Correspondence to Kuniaki Kawabata.

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Kawabata, K. A trajectory generation method for mobile robot based on iterative extension-like process. Artif Life Robotics 21, 500–509 (2016). https://doi.org/10.1007/s10015-016-0305-6

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  • DOI: https://doi.org/10.1007/s10015-016-0305-6

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