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.

Algebraic solution to minimum-time velocity planning / G. Lini; A. Piazzi; L. Consolini. - In: INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION, AND SYSTEMS. - ISSN 1598-6446. - 11:4(2013), pp. 805-814. [10.1007/s12555-011-0065-y]

Algebraic solution to minimum-time velocity planning

LINI, Gabriele;PIAZZI, Aurelio;CONSOLINI, Luca
2013

Abstract

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.
Algebraic solution to minimum-time velocity planning / G. Lini; A. Piazzi; L. Consolini. - In: INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION, AND SYSTEMS. - ISSN 1598-6446. - 11:4(2013), pp. 805-814. [10.1007/s12555-011-0065-y]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/2622646
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