Direct trajectory generation for vision-based obstacle avoidance

  title={Direct trajectory generation for vision-based obstacle avoidance},
  author={Roel Pieters and Alejandro Alvarez-Aguirre and P. Jonker and Henk Nijmeijer},
In this paper, a method for direct trajectory generation for robotic manipulators is proposed. The method is specifically designed for obstacle avoidance and can incorporate kinematic constraints into the avoidance motion. In particular, a point-to-point and multi-point trajectory generator is proposed in which different levels of constraints can be established on viaand end-points. The approach is direct in the sense that at every time instant a new trajectory is generated, which allows the… CONTINUE READING


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