Infinitely differentiable and continuous trajectory planning for mobile robot control
An Yong Lee, Giho Jang, Youngjin Choi · 2013
A smooth trajectory planning is necessary for smooth motion control of robots. In this paper, a conventional cubic trajectory planning for symmetric curve (S-curve) is extended to an infinitely differentiable and continuous trajectory planning which is derived from smooth jerk functions. Simulation results are provided to show the effectiveness of the smooth trajectory planning proposed for mobile robots.