The invention relates to a method for generating a trajectory from a starting point to a target point based on predetermined sample points of an initial trajectory from the starting point to the target point and based on at least one predetermined constraint, which the trajectory is required to satisfy. The method comprises the steps: a) Calculating (104) traveling time intervals for traveling between the sample points, wherein each traveling time interval is associated with one of the sample points; b) Calculating (106) a spline parameter for each sample point based on the respective traveling time interval; c) Checking (108), whether each of the traveling time intervals and its associated spline parameter satisfy the at least one constraint; d) If at least one of the traveling time intervals and its associated spline parameter do not satisfy the constraint, modifying (110) the respective traveling time interval and recalculating (112) the associated spline parameter based on the modified traveling time interval; e) Providing (114) the traveling time intervals and the spline parameters for calculating a trajectory. The invention further relates to a processing unit, a control unit for a displacement device, a displacement device, a computer program and a machine readable data storage.
METHOD FOR GENERATING A TRAJECTORY
VERFAHREN ZUR ERZEUGUNG EINER BAHNFÜHRUNG
PROCÉDÉ DE GÉNÉRATION D'UNE TRAJECTOIRE
2019-05-22
Patent
Electronic Resource
English
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