Minimum mixed time-energy trajectory planning of a nonlinear vehicle subject to 2D disturbances

DOI10.1007/S10957-021-01990-0MaRDI QIDQ2115261zbMATH OpenOpenAlexFDO

Authors Ayal Taitler, E. Karpas, I. Ioslovich, P.-O. Gutman

Publication date 15 March 2022

Published in Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s10957-021-01990-0

zbMATH Keywords

optimal controlvariational analysistrajectory planning

Mathematics Subject Classification ID

Set-valued and variational analysis (49J53) Optimality conditions (49K99)

Recommendations

• Combined time and energy optimal trajectory planning with quadratic drag for mixed discrete-continuous task planning
• Semianalytical minimum-time solution for the optimal control of a vehicle subject to limited acceleration
• Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles
• On energy-optimal and time-optimal precise displacement of rigid body with friction
• Time-Energy Optimal Control of Articulated Systems With Geometric Path Constraints

Cites work

• A Survey of the Maximum Principles for Optimal Control Problems with State Constraints
• COLIN: planning with continuous linear numeric change
• Combined time and energy optimal trajectory planning with quadratic drag for mixed discrete-continuous task planning
• Computation of feasible control trajectories for the navigation of a ship around an obstacle in the presence of a sea current
• On energy-optimal and time-optimal precise displacement of rigid body with friction
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• ScottyActivity: mixed discrete-continuous planning with convex optimization
• Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles
• Semianalytical minimum-time solution for the optimal control of a vehicle subject to limited acceleration
• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
• Time-optimal control of wafer stage positioning using simplified models

Cited in

(3)

• Energy-time optimal path planning in dynamic flows: theory and schemes
• Combined time and energy optimal trajectory planning with quadratic drag for mixed discrete-continuous task planning
• Integral reinforcement learning‐based approximate minimum time‐energy path planning in an unknown environment

Describes a project that uses

Uses Software

• Ipopt
• COLIN
• FALCON.m

This page was built for publication: Minimum mixed time-energy trajectory planning of a nonlinear vehicle subject to 2D disturbances

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2115261)