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Trajectory Planning Method Based on Controlled Dynamics Spline


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Trajectory Planning Method Based on Controlled Dynamics Spline
SUN Zhen-pingSHAN En-zhongDAI BinSONG Jin-ze
School of Mechatronic Engineering and Automation,National University of DefenseTechnology,Changsha 410073,China
controlled dynamics splines interpolation methods trajectory planning
When using a polynomial spline to plan the trajectory of a dynamic system,it is very difficult to manage dynamic constraints.In order to overcome the difficulty,a kind of controlled dynamics spline is designed,which is the optimal trajectory of the aimed double integral dynamic system.The dynamics spline is used as a basic curve to plan the trajectory of the double integral dynamic system.Compared with the planning results by cubic spline,the dynamic constraints are conformed automatically in this result.


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Last Update: 2012-11-02