Adaptive Trajectory Generation under Velocity Constraints using Dynamical Movement Primitives
Artikel i vetenskaplig tidskrift, 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

Författare

Albin Dahlin

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Yiannis Karayiannidis

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

IEEE Control Systems Letters

24751456 (eISSN)

Vol. 4 2 438-443

Ämneskategorier

Robotteknik och automation

Datavetenskap (datalogi)

Datorseende och robotik (autonoma system)

DOI

10.1109/LCSYS.2019.2946761

Mer information

Senast uppdaterat

2019-11-11