A polynomial trajectory is a time-traveled distance function used to describe trajectory of the robot. Optimal high-degree polynomial trajectories considering initial and the final velocity conditions besides the acceleration constraints are desired. In this paper, a trajectory optimization problem aiming travel maximum distance for a robot that follows an arc based path is formulated. Along […]
In this paper, a trajectory planning problem based on high-order polynomials is formulated for a point-to-point motion. The problem aims to find suitable polynomial trajectories that connect an initial to a final configuration while satisfying other specified constraints. The constraints are considered as zero velocity at the endpoint as well as a limitation on acceleration […]
