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