The paper presents a nonlinear filtering technique that can be adopted to generate smooth trajectories for mobile robotic applications. The proposed trajectory planner can be fully executed online by the robot control system, thanks to its inherently discrete-time behavior and to its limited computational requirement. The outputs of the nonlinear filter used as a trajectory planner include the derivatives of the desired position in the cartesian plane up to the third order. This allows the implementation of feedback linearization control schemes that can transform the dynamics of a mobile robot in a double chain of three integrators, exploiting the highest derivative of the filter’s output as a feedforward action. Finally, the paper reports...
Dynamic filters for real-time trajectory generation can be designed in different ways with quite dif...
Dynamic filters for real-time trajectory generation can be designed in different ways with quite dif...
none2noIn this paper, the use of FIR (Finite Impulse Response) filters for planning minimum-time tra...
The paper presents a nonlinear filtering technique that can be adopted to generate smooth trajectori...
The paper presents a nonlinear filtering technique that can be adopted to generate smooth trajectori...
The paper describes trajectory generation and tracking control algorithms, respectively based on non...
The paper describes trajectory generation and tracking control algorithms, respectively based on non...
The paper describes trajectory generation and tracking control algorithms, respectively based on non...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
A nonlinear variable structure (VS) system is presented, suitable for smooth trajectory generation i...
A nonlinear variable structure (VS) system is presented, suitable for smooth trajectory generation i...
Dynamic filters for real-time trajectory generation can be designed in different ways with quite dif...
Dynamic filters for real-time trajectory generation can be designed in different ways with quite dif...
none2noIn this paper, the use of FIR (Finite Impulse Response) filters for planning minimum-time tra...
The paper presents a nonlinear filtering technique that can be adopted to generate smooth trajectori...
The paper presents a nonlinear filtering technique that can be adopted to generate smooth trajectori...
The paper describes trajectory generation and tracking control algorithms, respectively based on non...
The paper describes trajectory generation and tracking control algorithms, respectively based on non...
The paper describes trajectory generation and tracking control algorithms, respectively based on non...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
In this paper, a novel technique for online generating trajectories in the 3-D space is presented. T...
A nonlinear variable structure (VS) system is presented, suitable for smooth trajectory generation i...
A nonlinear variable structure (VS) system is presented, suitable for smooth trajectory generation i...
Dynamic filters for real-time trajectory generation can be designed in different ways with quite dif...
Dynamic filters for real-time trajectory generation can be designed in different ways with quite dif...
none2noIn this paper, the use of FIR (Finite Impulse Response) filters for planning minimum-time tra...