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8-QUINTIC and LFSB Trajectory planning-20-Sep-2018Reference Material I - Quintic Polynomial Trajectory
8-QUINTIC and LFSB Trajectory planning-20-Sep-2018Reference Material I - Quintic Polynomial Trajectory
8-QUINTIC and LFSB Trajectory planning-20-Sep-2018Reference Material I - Quintic Polynomial Trajectory
q(t1)
Lift-off
Initial
q(t0)
t0 t1 t2 tf Time
Speed
• Velocity Profile
t0 t1 t2 tf Time
Acceleration
(7.19)
(7.20)
Combining the above two equations and t = 2th, we get
(7.21)
The constraint on the acceleration used in the blend is
Linear function with parabolic blends for a path with via points
We now consider linear paths with parabolic blends for the case in
which there are an arbitrary number of via points specified.
The velocity during the linear portion is 𝜃‘JK and the acceleration
during the blend at point j is 𝜃‘’JK
As with the single-segment case, there are many possible
solutions, depending on the value of acceleration used at each
blend. Given all the path points 𝜃 ‘k the desired durations tdjk, and
the magnitude of acceleration to use at each path point 𝜃𝑘ሷ .
we can compute the blend times tk. For interior path points, this
follows simply from the equations
(7.24)
The first and last segments must be handled slightly differently,
because an entire blend region at one end of the segment must be
counted in the total segment's time duration.
(7.25)