English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Continuous formulations of trajectory planning problems have two mainbenefits. First, constraints are guaranteed to be satisfied at all times.Secondly, dynamic obstacles can be naturally considered with time. This paperintroduces a novel B-spline based trajectory optimization method formulti-jointed robots that provides a continuous trajectory with guaranteedcontinuous constraints satisfaction. At the core of this method, B-spline basicoperations, like addition, multiplication, and derivative, are rigorouslydefined and applied for problem formulation. B-spline unique characteristics,such as the convex hull and smooth curves properties, are utilized toreformulate the original continuous optimization problem into afinite-dimensional problem. Collision avoidance with static obstacles isachieved using the signed distance field, while that with dynamic obstacles isaccomplished via constructing time-varying separating hyperplanes. Simulationresults on various robots validate the effectiveness of the algorithm. Inaddition, this paper provides experimental validations with a 6-link FANUCrobot avoiding static and moving obstacles.

Continuous Trajectory Optimization via B-splines for Multi-jointed Robotic Systems