Axis-coupled trajectory generation for chains of integrators through smoothing splines  

作　　者：Shupeng LAI Menglu LAN Kehong GONG Ben M. CHEN 

机构地区：[1]Department of Electrical and Computer Engineering, National University of Singapore, Singapore 777583 [2]Graduate School for Integrative Science & Engineering, National University of Singapore, Singapore 119077 [3]Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, China

出　　处：《Control Theory and Technology》2019年第1期48-61,共14页控制理论与技术（英文版）

摘　　要：Integrator based model is used to describe a wide range of systems in robotics. In this paper, we present an axis-coupled trajectory generation algorithm for chains of integrators with an arbitrary order. Special notice has been given to problems with pre-existing nominal plans, which are common in robotic applications. It also handles various type of constraints that can be satisfied on an entire time interval, including non-convex ones which can be transformed into a series of convex constraints through time segmentation. The proposed approach results in a linearly constrained quadratic programming problem, which can be solved effectively with off-the-shelf solvers. A closed-form solution is achievable with only the boundary constraints considered. Finally, the proposed method is tested in real experiments using quadrotors which represent high-order integrator systems.

关 键 词：B-SPLINE TRAJECTORY generation CHAINS of INTEGRATORS 

分 类 号：TP[自动化与计算机技术]