摘要
为了降低高阶多项式轨迹规划的计算难度,提出了使用内插法来替代高阶多项式进行轨迹规划,通过matlab软件的数据可视化功能,分别对高阶多项式轨迹规划与内插法轨迹规划进行了分析,最终得出使用内插法来替代高阶多项式进行轨迹规划是合理可靠的。
In order to reduce the computational difficulty of high-order polynomial trajectory planning,the interpolation method is proposed to replace the higher order polynomial for trajectory planning.Through the data visualization function of MATLAB software,the trajectory planning of high-order polynomial is compared with interpolation planning.It is concluded that it is reasonable and reliable to use interpolation instead of high-order polynomials for trajectory planning.
作者
田国富
郑博涛
孙书会
姜春旭
TIAN Guo-fu;ZHENG Bo-tao;SUN Shu-hui;JIANG Chun-xu(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)
出处
《重型机械》
2019年第1期54-56,共3页
Heavy Machinery
基金
辽宁省自然科学基金计划重点项目(20170540674)
关键词
高阶多项式
内插法
轨迹规划
higher order polynomial
interpolation method
trajectory planning
