Heuristics in time-optimal motions

This paper deals with planning time optimal motions of a robot in the presence of geometrical constraints. The time optimal controls are derived on the basis of the Pontryagin´s maximum principle. The bang-bang types of controls are obtained. An analysis of the controls of manipulator motion planning and a sequence of switching is determined. In order to speed up a planning procedure a bidirectional heuristic search algorithm, combined with some means for improving efficiency, is used.