Timed-elastic smooth curve optimization for mobile-base motion planning
Document typeConference report
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
European Commission's projectLOGIMATIC - Tight integration of EGNSS and on-board sensors for port vehicle automation (EC-H2020-687534)
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.
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CitationDeray, J. [et al.]. Timed-elastic smooth curve optimization for mobile-base motion planning. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)". Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 3143-3149.