TY - EJOUR
AU - Jond, Hossein Barghi
AU - Nabiyev, Vasif V.
AU - Akbarimajd, Adel
PY - 2024
DA - February
TI - An Analytic Closed-form Solution for Trajectory Generation on a Path along an Arc of a Circle
T2 - Majlesi Journal of Electrical Engineering
VL - 10
L1 - https://oiccpress.com/Majlesi-Journal-of-Electrical-Engineering/article/an-analytic-closed-form-solution-for-trajectory-generation-on-a-path-along-an-arc-of-a-circle/
N2 - 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 the path, the robot requires observing initial and final zero velocity conditions as well as certain acceleration limits. A high-degree polynomial equation along the trajectory is proposed inside of the optimization problem. The closed-form solution of the problem had been obtained analytically. The solution includes the coefficients of the any high-degree trajectory polynomial equation where the coefficients are obtained in closed-form. Simulations several experiments show that the resulting high-degree trajectories satisfy the initial and final zero velocity conditions as well as acceleration constraint.
IS - 1
PB - OICC Press
KW - Planning, mobile robot, constrained optimization, Analytic Solution. 
EN -