Autor:

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

Współtwórca:

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

Tytuł:

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

Tytuł publikacji grupowej:

AMCS, volume 32 (2022)

Temat i słowa kluczowe:

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.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2022

Typ zasobu:

artykuł

DOI:

10.34768/amcs-2022-0002

Strony:

11-21

Źródło:

AMCS, volume 32, number 1 (2022) ; kliknij tutaj, żeby przejść

Jezyk:

eng

Licencja CC BY 4.0:

kliknij tutaj, żeby przejść

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego