Online Minimum-Jerk Trajectory Generation
Ghazaei, Mahdi LU ; Robertsson, Anders LU and Johansson, Rolf LU
(2015)
2015 IMA Conference on Mathematics of Robotics
- Abstract
- Robotic trajectory generation is reformulated as a controller design problem. For minimum-jerk trajectories, an optimal controller using the Hamilton-Jacobi-Bellman equation is derived. The controller instantaneously updates the trajectory in a closed-loop system as a result of the changes in the reference signal. The resulting trajectories coincide with piece-wise fifth-order polynomial trajectories for piece-wise constant target states. Since having hard constraints on the final time poses certain robustness issues, a smooth transition between the finite-horizon and an infinite-horizon problem is developed. This enables to switch softly to a tracking mode when a moving target is reached.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/7856574
- author
- Ghazaei, Mahdi
LU
; Robertsson, Anders
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2015
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proc. IMA Conf. Mathematics of Robotics
- conference name
- 2015 IMA Conference on Mathematics of Robotics
- conference location
- Oxford, United Kingdom
- conference dates
- 2015-09-09 - 2015-09-11
- project
- LCCC
- RobotLab LTH
- language
- English
- LU publication?
- yes
- additional info
- key=mahdi_imamr15 month=09
- id
- c9bcbbd4-f304-454e-8f33-9a78c4a97f1a (old id 7856574)
- date added to LUP
- 2016-04-04 13:35:04
- date last changed
- 2019-04-13 12:27:47
@inproceedings{c9bcbbd4-f304-454e-8f33-9a78c4a97f1a,
abstract = {{Robotic trajectory generation is reformulated as a controller design problem. For minimum-jerk trajectories, an optimal controller using the Hamilton-Jacobi-Bellman equation is derived. The controller instantaneously updates the trajectory in a closed-loop system as a result of the changes in the reference signal. The resulting trajectories coincide with piece-wise fifth-order polynomial trajectories for piece-wise constant target states. Since having hard constraints on the final time poses certain robustness issues, a smooth transition between the finite-horizon and an infinite-horizon problem is developed. This enables to switch softly to a tracking mode when a moving target is reached.}},
author = {{Ghazaei, Mahdi and Robertsson, Anders and Johansson, Rolf}},
booktitle = {{Proc. IMA Conf. Mathematics of Robotics}},
language = {{eng}},
title = {{Online Minimum-Jerk Trajectory Generation}},
url = {{https://lup.lub.lu.se/search/files/62885485/8053865.pdf}},
year = {{2015}},
}