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An Analytic Solution to Fixed-Time Point-to-Point Trajectory Planning

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Author

Summary, in English

We derive an analytic solution to the problem of fixed-time trajectory generation with a quadratic cost function under velocity and acceleration constraints. This problem has a wide range of applications within motion planning. The advantage of the analytic solution compared to numerical optimization of the discretized problem is the unlimited resolution of the solution and the efficiency of the calculation, allowing sensor-based replanning and on-line trajectory generation.

Publishing year

2015

Language

English

Pages

11-306

Publication/Series

IEEE International Conference on Control Applications

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Robotics
  • Control Engineering

Conference name

IEEE Conference on Control Applications, 2015

Conference date

2015-09-21 - 2015-09-23

Conference place

Sydney, Australia

Status

Published

Project

  • LCCC
  • LU Robotics Laboratory

ISBN/ISSN/Other

  • ISSN: 1085-1992
  • ISBN: 978-1-4799-7787-1