Algebraic Solution to Minimum-Time Velocity Planning

作者：Lini Gabriele; Piazzi Aurelio^*; Consolini Luca

来源：International Journal of Control Automation and Systems, 2013, 11(4): 805-814.

DOI：10.1007/s12555-011-0065-y

• Autonomous robotic navigation
• feedforward control
• iterative steering
• minimum-time control
• Pontryagin%26apos
• s Maximum Principle
• velocity planning

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%26apos;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.

• 出版日期2013-8