On-line Trajectory Generation of Robots using Time Base Generator
Yoshiyuki Tanaka, Toshio Tsuji, Makoto Kaneko · IEEJ Transactions on Electronics Information and Systems · 1999
The artificial potential field approach is often used for the on-line path planning of robots because of its simplicity and low computation. However, a little attention has been paid to control of the dynamic behavior of the generated trajectories such as movement time from the initial position to the goal and the velocity profile of the robots. In this paper, a new trajectory generation method based on the artificial potential field approach for dynamic control of robots is proposed by combining a time scale transformation and a time base generator which works as a time scale compressor. The proposed method can control the dynamic behavior of robots actively without any change of the form of the designed potential function itself. Effectiveness of the method is verified through computer simulations with an omnidirectional vehicle.