Minimum-jerk velocity planning for mobile robot applications

IEEE Transactions on Robotics

Volumn 29, Issue 5, 2013, Pages 1317-1326

  Guarino Lo Bianco, Corrado ^a  

^a UNIVERSITY OF PARMA   (Italy)

Author keywords

Bounded kinematics; minimum jerk planning; mobile robots; robot motion; velocity planning

Indexed keywords

EFFICIENT PLANNING; FEASIBLE SOLUTION; INTERPOLATING CONDITION; ONLINE IMPLEMENTATION; ROBOT MOTION; ROBOTIC APPLICATIONS; VELOCITY AND ACCELERATION CONSTRAINTS; VELOCITY PLANNING;

MOBILE ROBOTS; ROBOT APPLICATIONS; VELOCITY;

ROBOT PROGRAMMING;

EID: 84885671743     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2013.2262744     Document Type: Article

References (25)

1. C.-S. Lin, P.-R. Chang, and J. Luh, "Formulation and optimization of cubic polynomial joint trajectories for industrial robots," IEEE Trans. Autom. Control, vol. AC-28, no. 12, pp. 1066-1074, Dec. 1983 (Pubitemid 14503201)
2. A. De Luca, L. Lanari, and G. Oriolo, "A sensitivity approach to optimal spline robot trajectories," Automatica, vol. 27, no. 3, pp. 535-539, May 1991 (Pubitemid 21651853)
3. C. Guarino Lo Bianco and A. Piazzi, "A semi-infinite optimization approach to optimal trajectory planning of mechanical manipulators," in Semi-Infinite Programming Recent Advances. Dordrecht, The Netherlands: Kluwer, 2001, ch. 13, pp. 271-297
4. C. Guarino Lo Bianco and A. Piazzi, "Minimum-time trajectory planning of mechanical manipulators under dynamic constraints," Int. J. Control, vol. 75, no. 13, pp. 967-980, 2002 (Pubitemid 35262701)
5. S. Liu, "An on-line reference-trajectory generator for smooth motion of impulse-controlled industrial manipulators," in Proc. 7th Int. Work. Adv. Mot. Control, 2002, pp. 365-370 (Pubitemid 40761191)
6. S. Macfarlane and E. A. Croft, "Jerk-boundedmanipulator trajectory planning: Design for real-time applications," IEEE Trans. Robot. Autom., vol. 19, no. 1, pp. 42-52, Feb. 2003
7. O. Gerelli and C. Guarino Lo Bianco, "Adiscrete-time filter for the on-line generation of trajectories with bounded velocity, acceleration, and jerk," in Proc. IEEE Int. Conf. Robot. Autom., Anchorage, AK, USA, May 2010, pp. 3989-3994
8. R. Haschke, E. Weitnauer, and H. Ritter, "On-line planning of timeoptimal, jerk-limited trajectories," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Sep. 2008, pp. 3248-3253
9. X. Broquere, D. Sidobre, and I. Herrera-Aguilar, "Soft motion trajectory planner for service manipulator robot," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Sep. 2008, pp. 2808-2813
10. T. Kröger and F. M. Wahl, "On-line trajectory generation: Basic concepts for instantaneous reactions to unforeseen events," IEEE Trans. Robot., vol. 26, no. 1, pp. 94-111, Feb. 2010
11. C. Guarino Lo Bianco and O. Gerelli, "Online trajectory scaling for manipulators subject to high-order kinematic and dynamic constraints," IEEE Trans. Robot., vol. 27, no. 6, pp. 1144-1152, Dec. 2011
12. J. Gyorfi and C.-H. Wu, "A minimum-jerk speed-planning algorithm for coordinated planning and control of automated assembly manufacturing," IEEE Trans. Autom. Sci. Eng., vol. 3, no. 4, pp. 454-462, Oct. 2006 (Pubitemid 44574337)
13. C. Guarino Lo Bianco and M. Romano, "Bounded velocity planning for autonomous vehicles," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Edmonton, Canada, Aug. 2005, pp. 4068-4073
14. A. Gasparetto and V. Zanotto, "A technique of time-jerk optimal planning of robot trajectories," Robot. Comput. Integr. Manufact., vol. 24, pp. 415-426, 2008 (Pubitemid 351312259)
15. K. Kyriakopoulos and G. Saridis, "Minimum jerk path generation," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 1988, vol. 1, pp. 364-369
16. A. Piazzi and A. Visioli, "Global minimum-jerk trajectory planning of robot manipulators," IEEE Trans. Ind. Electron., vol. 47, no. 1, pp. 140-149, Feb. 2000 (Pubitemid 32132940)
17. F. Amirabdollahian, R. Loureiro, and W. Harwin, "Minimum jerk trajectory control for rehabilitation and haptic applications," in Proc. IEEE Int. Conf. Robot. Autom., 2002, vol. 4, pp. 3380-3385 (Pubitemid 34916066)
18. P. Huang, K. Chen, J. Yuan, and Y. Xu, "Motion trajectory planning of space manipulator for joint jerk minimization," in Proc. Int. Conf. Mech. Autom., Aug. 2007, pp. 3543-3548 (Pubitemid 350245220)
19. C. Guarino Lo Bianco, "Optimal velocity planning for autonomous vehicles under kinematic constraints," in Proc. 8th Int. IFAC Symp. Robot. Control, Bologna, Italy, Sep. 2006, vol. 8, pp. 126-131
20. C. Guarino Lo Bianco, "Kinematically constrained smooth real-time velocity planning for robotics applications," in Proc. IEEE Int. Conf. Contr. Autom., Dec. 2009, pp. 373-378
21. C. Guarino Lo Bianco, A. Piazzi, andM. Romano, "Smoothmotion generation for unicycle mobile robots via dynamic path inversion," IEEE Trans. Robot., vol. 20, no. 5, pp. 884-891, Oct. 2004
22. K. Kant and S. Zucker, "Toward efficient trajectory planning: The pathvelocity decomposition," Int. J. Robot. Res., vol. 5, no. 3, pp. 72-89, 1986 (Pubitemid 17476814)
23. A. Piazzi, C. Guarino Lo Bianco, and M. Romano, "3-splines for the smooth path generation of wheeled mobile robots," IEEE Trans. Robot., vol. 23, no. 5, pp. 1089-1095, Oct. 2007 (Pubitemid 47577984)
24. C. Guarino Lo Bianco and M. Romano, "Optimal velocity planning for autonomous vehicles considering curvature constraints," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2007, pp. 2706-2711 (Pubitemid 350140586)
25. F. Canali, C. Guarino Lo Bianco, and M. Locatelli, "Minimum-jerk online planning by a mathematical programming approach," Eng. Optim., in press.