Publication

Timed-elastic smooth curve optimization for mobile-base planning

Conference Article

Conference

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Edition

2019

File

Download the digital copy of the doc pdf document

Abstract

This paper proposes the use of piecewise Cn smooth curve for mobile-base motion planning and control, coined Timed-Elastic Smooth Curve (TESC) planner. Based on a Timed-Elastic Band, the problem is defined so that the trajectory lies on a spline in SE(2) with non-vanishing n-th derivatives at every point. Formulated as a multi-objective nonlinear optimization problem, it allows imposing soft constraints such as collision-avoidance, velocity, acceleration and jerk limits, and more. The planning process is realtime-capable allowing the robot to navigate in dynamic complex scenarios.

The proposed method is compared against the state-of-the-art in various scenarios. Results show that trajectories generated by the TESC planner have smaller average acceleration and are more efcient in terms of total curvature and pseudo-kinetic energy while being produced with more consistency than state-of-the-art planners do.

Categories

robots.

Scientific reference

J. Deray, B. Magyar, J. Solà and J. Andrade-Cetto. Timed-elastic smooth curve optimization for mobile-base planning, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019, Macau, to appear.