Generation of Achievable Three-Dimensional Trajectories for Autonomous Wheeled Vehicles via Tracking Differentiators
Svetlana A. Krasnova,
Julia G. Kokunko,
Sergey A. Kochetkov
et al.
Abstract:Planning an achievable trajectory for a mobile robot usually consists of two steps: (i) finding a path in the form of a sequence of discrete waypoints and (ii) transforming this sequence into a continuous and smooth curve. To solve the second problem, this paper proposes algorithms for automatic dynamic smoothing of the primary path using a tracking differentiator with sigmoid corrective actions. Algorithms for setting the gains of the differentiator are developed, considering a set of design constraints on ve… Show more
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