Adaptive Trajectory Generation under Velocity Constraints using Dynamical Movement Primitives
Journal article, 2019

IEEE This letter addresses the problem of adaptive trajectory generation under velocity constraints while preserving the desired path shape. We adopt the framework of Dynamical Movement Primitives (DMPs) for trajectory modeling that offers useful features for online trajectory modulation using spatial and temporal parameter adaptation. This paper proposes a temporal coupling for DMPs based on a repulsive potential that keeps the velocity within predefined limits while inherently ensuring path shape invariance. The performance and stability of the proposed method are proven by Lyapunov-like arguments, and simulations are presented to verify the result.

Robotics.

Adaptive systems

Constrained control

Author

Albin Dahlin

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Yiannis Karayiannidis

Chalmers, Electrical Engineering, Systems and control, Mechatronics

IEEE Control Systems Letters

24751456 (eISSN)

Vol. 4 2 438-443

Subject Categories

Robotics

Computer Science

Computer Vision and Robotics (Autonomous Systems)

DOI

10.1109/LCSYS.2019.2946761

More information

Latest update

11/11/2019