Trajectory Generation

The lecture covers the basics of trajectory generation and shows their application using examples focussing on mechatronic systems and robotics. In addition to trajectory generation, insights into related topics are provided such as the kinematics and dynamics of robots as well as computer vision and SLAM methods for robotics.

In particular, the following topics are covered:

• Tasks of trajectory generation
• Distinction and relationships between path planning and trajectory generation
• Algebraic methods of trajectory generation
• Filter-based trajectory generation
• Optimisation-based trajectory generation
• Trajectory generation for manipulators and mobile robots
• Computer Vision and SLAM
• ...