Trajectory Scaling for Reactive Motion Planning
Albin Dahlin,Yiannis Karayiannidis,Albin Dahlin,Yiannis Karayiannidis
Trajectory scaling has long been used to address velocity and acceleration constraints in robotic motion planning. In later years, reactive motion planning based on dynamical systems has become popular. The traditional scaling techniques are not always suitable to adopt directly when online modifications of the trajectories are made leading to feasibility problems. In this paper, we propose an app...
