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Titel:

A Nonlinear Trigonometric Series Parameterization Approach for Smooth Trajectory Generation

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Hong, Haichao; Piprek, Patrick; Lu, Zhidong; Holzapfel, Florian
Abstract:
This paper introduces a parameterization method for generating trajectories with smooth control commands based on a trigonometric series, where the formulation is nonlinear with respect to the series coefficients. The proposed method aims to achieve a steadier behavior when a path constraint is temporarily active, which is often encountered with e.g., a minimum-time performance index. To this end, first, the control derivatives are parameterized instead of the control variables. Furthermore, the...     »
Kongress- / Buchtitel:
CEAS EuroGNC 2022
Jahr:
2022
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