Trajectory planning
Duarte Valério, José Sá da Costa · Institution of Engineering and Technology eBooks · 2012
This chapter concerns a control subject that does not consist in obtaining a controller, but rather in finding a trajectory in space for an actuator (such as a robotic arm) to follow, avoiding obstacles in the way. For simplicity, the subject will be presented assuming a two-dimensional space. Its extension to the three-dimensional space is straightforward.