{"id":"https://openalex.org/W1980732622","doi":"https://doi.org/10.1017/s0263574700002629","title":"A dynamic optimal trajectory generator for Cartesian Path following","display_name":"A dynamic optimal trajectory generator for Cartesian Path following","publication_year":2000,"publication_date":"2000-09-01","ids":{"openalex":"https://openalex.org/W1980732622","doi":"https://doi.org/10.1017/s0263574700002629","mag":"1980732622"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700002629","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700002629","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038563085","display_name":"Edward Red","orcid":null},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Edward Red","raw_affiliation_strings":["Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah 84602-4201 (USA","Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah 84602\u20134201 (USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah 84602-4201 (USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah 84602\u20134201 (USA)","institution_ids":["https://openalex.org/I100005738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5038563085"],"corresponding_institution_ids":["https://openalex.org/I100005738"],"apc_list":null,"apc_paid":null,"fwci":2.9891,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.89607728,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"18","issue":"5","first_page":"451","last_page":"458"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.9364367723464966},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.8332411050796509},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.82594895362854},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7593332529067993},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6563031673431396},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6385211944580078},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.6304370164871216},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5029625296592712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5021498203277588},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35282957553863525},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2498500943183899},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14069443941116333},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.13555803894996643},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1303131878376007},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09199708700180054},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06334835290908813}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.9364367723464966},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8332411050796509},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.82594895362854},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7593332529067993},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6563031673431396},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6385211944580078},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.6304370164871216},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5029625296592712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5021498203277588},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35282957553863525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2498500943183899},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14069443941116333},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.13555803894996643},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1303131878376007},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09199708700180054},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06334835290908813},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574700002629","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700002629","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:scholarsarchive.byu.edu:facpub-1588","is_oa":false,"landing_page_url":"https://scholarsarchive.byu.edu/facpub/589","pdf_url":null,"source":{"id":"https://openalex.org/S4377196308","display_name":"ScholarsArchive  (Brigham Young University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I100005738","host_organization_name":"Brigham Young University","host_organization_lineage":["https://openalex.org/I100005738"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.47999998927116394,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W628362799","https://openalex.org/W2009120542","https://openalex.org/W2062691475","https://openalex.org/W2070034466","https://openalex.org/W2097798302"],"related_works":["https://openalex.org/W2376623953","https://openalex.org/W2118664347","https://openalex.org/W2352897580","https://openalex.org/W3049304016","https://openalex.org/W2348411017","https://openalex.org/W2019544916","https://openalex.org/W4232942130","https://openalex.org/W2568861134","https://openalex.org/W2154495601","https://openalex.org/W2018977954"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"a":[3],"dynamic":[4],"and":[5,22,62,77,88],"adaptive":[6],"trajectory":[7,29],"generator":[8],"for":[9,56],"negotiating":[10],"paths":[11],"using":[12],"S-curves.":[13],"Applying":[14],"constant":[15,20],"jerk":[16,61],"transitions":[17],"between":[18],"the":[19,26,28,34,43,49,53,57,93],"acceleration":[21,63],"deceleration":[23],"periods":[24],"of":[25],"trajectory,":[27],"will":[30,69,84],"optimally":[31],"transition":[32,47],"to":[33,41,46,52,71],"desired":[35],"speed":[36,51,55,75],"setting.":[37],"Optimal":[38],"is":[39],"defined":[40],"be":[42],"minimum":[44],"time":[45],"from":[48],"current":[50],"set":[54],"move":[58,95],"segment":[59],"when":[60],"are":[64],"limited.":[65],"The":[66],"S-curve":[67],"equations":[68],"adapt":[70],"instantaneous":[72],"changes":[73],"in":[74],"setting":[76],"path":[78],"length.":[79],"An":[80],"integrated":[81],"motion":[82],"planner":[83],"determine":[85],"allowable":[86],"speeds":[87],"transitional":[89],"profiles":[90],"based":[91],"on":[92],"remaining":[94],"distance.":[96]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}