一种用于生成参考轨迹的光滑路径的高效计算算法

2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI:10.1109/ICARA.2015.7081133

A. Keck, K. L. Knierim, O. Sawodny

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引用次数: 5

摘要

提出了一种从多角线生成光滑路径的有效算法。将光滑路径与轨迹发生器结合使用，为多传感器测量系统的2自由度控制创建参考值。该算法在不增加计算时间的情况下处理大量目标点，并且能够基于噪声测量数据构建路径。

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SAMMY - an algorithm for efficient computation of a smooth path for reference trajectory generation

An efficient algorithm to generate smooth paths from polygonal lines is presented. The smooth path is used in combination with a trajectory generator to create reference values for the 2DOF control of a multi-sensor measuring system. The algorithm handles large amounts of target points without an increase in computation time and is able to construct a path based on noisy measurement data.

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来源期刊

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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