A Method of Online Trajectory Generation Based on FIR Filter

Abstract

In this paper, a method of smooth trajectory generation is suggested. In previous studies, Finite Impulse Response (FIR) filter is used to turn low computational cost acceleration-limited trajectory into jerk-limited trajectory. However, FIR filter prolongs the duration of acceleration so that trajectory overshoots the end point. To solve the problem, a novel method is proposed to make trajectory approach the end point without overshooting. Starting from an state with suitable initial velocity and acceleration, the proposed method can generate smooth and almost time-optimal trajectory and provide a new feasible trajectory in real-time.