DocumentCode :
3455210
Title :
An algorithm for planning time-optimal trajectories for given minimum distance paths
Author :
González-Baños, Héctor Hugo ; Gordillo, José Luis
Author_Institution :
Centro de IA-ITESM, Monterrey, Mexico
Volume :
3
fYear :
1993
fDate :
26-30 Jul 1993
Firstpage :
2302
Abstract :
The authors address the problem of determining a time-dependent trajectory when a path planner provides a minimal distance path between two points. In contrast with most of the known methods that work in the velocity-time (v-t) space, theirs works directly in the velocity-arc length (v-s) space, which is the data provided by geometrical path planners. In a first instance, the method assumes a linear path to obtain a nonconstrained trajectory in the v-s plane. The dynamical constraints are then projected into this space to limit the original solution. As the algorithm uses discretized data, the authors provide its cost on space and time and the exact evaluation for the approximation error which depends on the desired accuracy
Keywords :
path planning; minimum distance paths; nonconstrained trajectory; path planner; planning; time-dependent trajectory; time-optimal trajectories; Aerospace industry; Costs; Manufacturing automation; Motion planning; Orbital robotics; Path planning; Polynomials; Robot motion; Robotics and automation; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
Type :
conf
DOI :
10.1109/IROS.1993.583947
Filename :
583947
Link To Document :
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