Timed-Elastic Smooth Curve Optimization for Mobile-Base Motion Planning

Jeremie Deray, Bence Magyar, Joan Sola, Juan Andrade-Cetto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes the use of piecewise mathrm{C}-{n} 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 efficient in terms of total curvature and pseudo-kinetic energy while being produced with more consistency than state-of-the-art planners do.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages3143-3149
Number of pages7
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - 27 Jan 2020
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - Macau, China
Duration: 4 Nov 20198 Nov 2019
https://www.iros2019.org/

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2019
Country/TerritoryChina
CityMacau
Period4/11/198/11/19
Internet address

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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