METHOD FOR MOWING AN OBJECT

摘要

A method for obtaining a fourth order trajectory (150, 250, 350) for moving an object (O) from a first point (A) to a second point (B) covering a distance (d) using predefined velocity, acceleration, jerk and snap constraint values (v max, a max,j max, S max), wherein the fourth order trajectory (150, 250, 350) is obtained on the basis of an operating snap profile (190, 290, 390) representing the fourth derivative of the trajectory (150, 250, 350) of the position of the object (O) and comprising a plurality of time intervals with corresponding snap values, and wherein a first snap profile (190) is determined on the basis of the distance (d) and of the velocity, acceleration, jerk and snap constraint values (v max, a max,j max, S max) and is defined as the operating snap profile (190) if the velocity constraint value (v max) is attained in a first velocity profile (160) representing the first derivative of a first trajectory (150) corresponding to the first snap profile (190), is provided, wherein, according to the invention, a second snap profile (290) different from the first snap profile (190) is determined on the basis of the distance (d) and of the acceleration, jerk and snap constraint values (a max,j max, S max) and is defined as the operating snap profile (290) if the velocity constraint value (v max is not attained in the first velocity profile (160) and if a maximum velocity in a second velocity profile (260) representing the first derivative of a second trajectory (250) corresponding to the second snap profile (290) does not exceed the velocity constraint value (v max), and a third snap profile (390) different from the first snap profile (190) and from the second snap profile (290) is determined on the basis of the distance (d), of the maximum velocity in the second velocity profile (260) and of the velocity, acceleration, jerk and snap constraint values (v max, a max,j max, S max) and is defined as the operating snap profile (390) if the maximum velocity in the second velocity profile (260) does exceed the velocity constraint value (v max). The invention also relates to a corresponding device.