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

Pages

3143-3149

Doc link

https://doi.org/10.1109/IROS40897.2019.8968240

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, pp. 3143-3149.