Creator:

Liu, Guangyu ; Wu, Shangliang ; Zhu, Ling ; Wang, Jiajun ; Lv, Qiang

Contributor:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Title:

Fast and smooth trajectory planning for a class of linear systems based on parameter and constraint reduction

Group publication title:

AMCS, volume 32 (2022)

Subject and Keywords:

constraint reduction ; parameter reduction ; fast calculation ; trajectory planning

Abstract:

Fast and smooth trajectory planning is crucial for modern control systems, e.g., missiles, aircraft, robots and AGVs. However, classical spline based trajectory planning tools introduce redundant constraints and parameters, leading to high costs of computation and complicating fast and smooth execution of trajectory planning tasks. A new tool is proposed that employs truncated power functions to annihilate some constraints and reduce the number of parameters in the optimal model. It enables solving a simplified optimal problem in a shorter time while keeping the trajectory sufficiently smooth. With an engineering background, our case studies show that the proposed method has advantages over other solutions. It is promising in regard to the demanding tasks of trajectory planning.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2022

Resource Type:

artykuł

DOI:

10.34768/amcs-2022-0002

Pages:

11-21

Source:

AMCS, volume 32, number 1 (2022) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego