Algebraic Solution to Minimum-Time Velocity Planning

被引：10
|
作者：
Lini, Gabriele [1 ]
Piazzi, Aurelio [2 ]
Consolini, Luca [2 ]
机构：
[1] SISSA, Int Sch Adv Studies, I-34136 Trieste, Italy
[2] Univ Parma, Dept Informat Engn, I-43124 Parma, Italy
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2013年 / 11卷 / 04期
关键词：
Autonomous robotic navigation; feedforward control; iterative steering; minimum-time control; Pontryagin's Maximum Principle; velocity planning; AUTONOMOUS VEHICLES; MOBILE ROBOTS; CONSTRAINTS; CURVATURE; PATHS;
D O I：
10.1007/s12555-011-0065-y
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper poses the problem of minimum-time velocity planning subject to a jerk amplitude constraint and to arbitrary velocity/acceleration boundary conditions. This problem which is relevant in the field of autonomous robotic navigation and also for inertial one-dimensional mechatronics systems is dealt with an algebraic approach based on Pontryagin's Maximum Principle. The exposed complete solution shows how this time-optimal planning can be reduced to the problem of determining the positive real roots of a quartic equation. An algorithm that is suitable for real-time applications is then presented. The paper includes detailed examples also highlighting the special cases of this planning problem.
引用
收藏
页码：805 / 814
页数：10
相关论文
共 50 条
  • [1] Algebraic solution to minimum-time velocity planning
    Gabriele Lini
    Aurelio Piazzi
    Luca Consolini
    [J]. International Journal of Control, Automation and Systems, 2013, 11 : 805 - 814
  • [2] Minimum-time constrained velocity planning
    Lini, Gabriele
    Consolini, Luca
    Piazzi, Aurelio
    [J]. MED: 2009 17TH MEDITERRANEAN CONFERENCE ON CONTROL & AUTOMATION, VOLS 1-3, 2009, : 748 - 753
  • [3] Minimum-time Velocity Planning with Arbitrary Boundary Conditions
    Lini, Gabriele
    Piazzi, Aurelio
    [J]. ROBOT MOTION AND CONTROL 2009, 2009, 396 : 287 - 296
  • [4] An optimal complexity algorithm for minimum-time velocity planning
    Consolini, Luca
    Locatelli, Marco
    Minari, Andrea
    Piazzi, Aurelio
    [J]. SYSTEMS & CONTROL LETTERS, 2017, 103 : 50 - 57
  • [5] Minimum-time trajectory planning for manipulator with controlled velocity profile
    Duleba, I
    Sasiadek, JZ
    [J]. PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 1998, : 16 - 20
  • [6] A linear-time algorithm for minimum-time velocity planning of autonomous vehicles
    Consolini, L.
    Locatelli, M.
    Minari, A.
    Piazzi, A.
    [J]. 2016 24TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2016, : 490 - 495
  • [7] A solution of the minimum-time speed planning problem based on lattice theory
    Consolini, Luca
    Laurini, Mattia
    Locatelli, Marco
    Minari, Andrea
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2020, 357 (12): : 7617 - 7637
  • [8] Minimum-time velocity profile planning for planar motion considering velocity, acceleration and jerk constraints
    Benko Loknar, Martina
    Blazic, Saso
    Klancar, Gregor
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 2023, 96 (01) : 251 - 265
  • [9] Minimum-Time Control of Boolean Networks: An Algebraic Approach
    Laschov, Dmitriy
    Margaliot, Michael
    [J]. 2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2014, : 1545 - 1550
  • [10] PLANNING OF MINIMUM-TIME TRAJECTORIES FOR ROBOT ARMS
    SAHAR, G
    HOLLERBACH, JM
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (03): : 90 - 100
12345