This paper proposes two novel convolution-based trajectory generation methods using physical system limits such as maximum velocity, maximum acceleration, and maximum jerk. Convolution is a mathematical operation on two functions of an input function and a convoluted function, producing an output function that is typically viewed as a modified version of input function. Time duration parameters of the convoluted functions with a unit area are determined from the given physical system limits. The convolution-based trajectory generation methods to be proposed in this paper have three advantages; first, a continuously differentiable trajectory is simply obtained by applying successive convolution operations; second, a resultant trajectory is always generated satisfying the given physical system limits; third, the suggested methods have low computational burden thanks to recursive form of convolution operation. The suggested methods consider both zero and nonzero initial/terminal conditions. Finally, the effectiveness of the suggested methods is shown through numerical simulations.
Convolution-Based Trajectory Generation Methods Using Physical System Limits
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 29, 2010; final manuscript received June 22, 2012; published online October 29, 2012. Assoc. Editor: Warren E. Dixon.
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Lee, G., Kim, J., and Choi, Y. (October 29, 2012). "Convolution-Based Trajectory Generation Methods Using Physical System Limits." ASME. J. Dyn. Sys., Meas., Control. January 2013; 135(1): 011001. https://doi.org/10.1115/1.4007551
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