Distance indexed trajectory generation for a helicopter robot for programming by demonstration

A trajectory generator is presented. While the generator is generic we focus on its application for a programming by demonstration (PbD) system. Using stored task knowledge, our PbD system generates position targets at runtime to guide the robot to achieve specified task goals. This paper addresses the problem of trajectory generation (as a sequence of waypoints) to move from one position target to another. Most existing trajectory generation algorithms produce time indexed trajectories. The traversability of time indexed trajectories can be ensured only if an accurate dynamic model is considered for trajectory generation. However, if the true dynamics are not known, the robot may fail to follow the trajectory. A novel distance indexed trajectory generation method is presented to resolve these issues for a helicopter robot. The approach is evaluated using a helicopter simulator.