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dc.contributor.authorKunz, Tobias
dc.contributor.authorStilman, Mike
dc.date.accessioned2011-11-01T14:54:23Z
dc.date.available2011-11-01T14:54:23Z
dc.date.issued2011
dc.identifier.urihttp://hdl.handle.net/1853/41948
dc.description.abstractWe present an approach for converting a path of multiple continuous linear segments into a trajectory that satisfies velocity and acceleration constraints and closely follows the given path without coming to a complete stop at every waypoint. Our method applies parabolic blends around waypoints to improve speed. In contrast to established methods that smooth trajectories with parabolic blends, our method does not require the timing of waypoints or durations of blend phases. This makes our approach particularly useful for robots that must follow kinematic paths that are not explicitly parametrized by time. Our method chooses timing automatically to achieve high performance while satisfying the velocity and acceleration constraints of a given robot.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.relation.ispartofseriesGT-GOLEM-2011-006en_US
dc.subjectDurationsen_US
dc.subjectKinematic pathsen_US
dc.subjectParabolic blendsen_US
dc.subjectRobotsen_US
dc.subjectWaypointsen_US
dc.titleTurning Paths Into Trajectories Using Parabolic Blendsen_US
dc.typeTechnical Reporten_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines


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