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Title: Axis-coupled trajectory generation for chains of integrators through smoothing splines
Authors: Lai, S 
Lan, M
Gong, K
Chen, BM 
Issue Date: 1-Feb-2019
Publisher: Springer Science and Business Media LLC
Citation: Lai, S, Lan, M, Gong, K, Chen, BM (2019-02-01). Axis-coupled trajectory generation for chains of integrators through smoothing splines. Control Theory and Technology 17 (1) : 48-61. ScholarBank@NUS Repository.
Abstract: Integrator based model is used to describe a wide range of systems in robotics. In this paper, we present an axis-coupled trajectory generation algorithm for chains of integrators with an arbitrary order. Special notice has been given to problems with pre-existing nominal plans, which are common in robotic applications. It also handles various type of constraints that can be satisfied on an entire time interval, including non-convex ones which can be transformed into a series of convex constraints through time segmentation. The proposed approach results in a linearly constrained quadratic programming problem, which can be solved effectively with off-the-shelf solvers. A closed-form solution is achievable with only the boundary constraints considered. Finally, the proposed method is tested in real experiments using quadrotors which represent high-order integrator systems.
Source Title: Control Theory and Technology
ISSN: 20956983
DOI: 10.1007/s11768-019-8201-y
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