On-line planning of time-optimal, jerk-limited trajectories

@article{Haschke2008OnlinePO,
  title={On-line planning of time-optimal, jerk-limited trajectories},
  author={Robert Haschke and Erik Weitnauer and Helge J. Ritter},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={3248-3253}
}
Service robots which directly interact with humans in highly unstructured, unpredictable and dynamic environments must be able to flexibly adapt their motion in reaction to unforeseen events or obstacles and they must provide a new feasible trajectory in real-time. Hence, algorithms come into focus which replan the motion path and its time evolution from arbitrary initial conditions within milliseconds. We present a real-time algorithm to generate synchronised and time-optimal third-order… CONTINUE READING
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