第7章 轨迹规划.pptVIP

* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * Inside segment: Linear function with parabolic blendsfor a path with via points First segment: Linear function with parabolic blendsfor a path with via points Last segment: Linear function with parabolic blendsfor a path with via points To go through the actual via points: Introduce “Pseudo Via Points” Use sufficiently high acceleration Linear function with parabolic blendsfor a path with via points When path shapes are described in terms of functions of Cartesian position and orientation, we can also specify the spa