ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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12
Issue
vol 59 / DECEMBER, 2016
Article
UDC 004.5

APPLICATION OF PARAMETRICAL APPROXIMATION FOR CONSTRUCTION OF PLANNED TRAJECTORIES OF MOBILE APPARATUS

G. M. Dovgobrod
Central Scientific Institute “Kurs”; Leading Scientist


Клячко Л. М.
ЦНИИ „Курс“; генеральный директор


R. V. Rogozhnikovx
Central Scientific Institute “Kurs”; Deputy Chief Engineer


Abstract. Parametric polynomial curves of the fifth (or higher) degree are proposed for construction of planned trajectories of mobile apparatus. The planned trajectories are shown to possess the maximal possible curvature radius with starting and final points having given coordinates, directions, and curvatures. The proposed trajectories may be used as reference curves when automated or manual control over the apparatus motion is applied.
Keywords: motion trajectory, mobile apparatus, Bernstein polynomials, condition number.