Conference proceeding
BeBOT: Bernstein Polynomial Toolkit for Trajectory Generation
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3288-3293
11/2019
DOI: 10.1109/IROS40897.2019.8967564
Abstract
We present a method and an open-source implementation (BeBOT) for the generation of trajectories for autonomous system operations using Bernstein polynomials. Bernstein polynomials possess convenient geometric properties that enable the trajectory planner to efficiently evaluate and impose constraints along the vehicles' trajectories, such as maximum speed and angular rates, minimum distance between trajectories and between the vehicles and obstacles. Thus, the proposed method is particularly suitable for generating trajectories in real-time for safe operations in complex environments and multiple vehicle missions.
Details
- Title: Subtitle
- BeBOT: Bernstein Polynomial Toolkit for Trajectory Generation
- Creators
- Calvin Kielas-Jensen - University of IowaVenanzio Cichella - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3288-3293
- Publisher
- IEEE
- DOI
- 10.1109/IROS40897.2019.8967564
- ISSN
- 2153-0858
- eISSN
- 2153-0866
- Language
- English
- Date published
- 11/2019
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984196618402771
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