A Method of Planar Multi-Segment Five-Degree Polynomial Trajectory Planning for Simplified Obstacles

摘要

It is proposed that under the prescribed conditions, the obstacle spree is simplified by the minimum outer ball method, and the robot end ensures that the speed acceleration reaches the five target points in the working surface under the continuous conditions of the operating conditions, and compares the shortest distance of the track line to the track point of the simplified post-center point to avoid touching, And change the parameters when intersecting the obstacle to re-plan the trajectory.