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

繰り返し伸長型プロセスによる移動ロボットの軌道生成手法

川端 邦明   

Kawabata, Kuniaki

本論文では、繰り返し伸長型プロセスに基づいた移動ロボットの軌道生成手法について提案を行う。実世界での移動ロボットの活用を考えれば、軌道はその都度直面する状況に応じて生成されなければならない。提案手法では、オンラインで繰り返し軌道セグメントと呼ばれる局所的な軌道の伸長を行う形式の軌道生成手法の計算手法について述べる。

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.