Combined time and energy optimal trajectory planning with quadratic drag for mixed discrete-continuous task planning

DOI10.1080/02331934.2018.1502769MaRDI QIDQ4613989zbMATH OpenOpenAlexFDO

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

Publication date 28 January 2019

Published in Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/02331934.2018.1502769

zbMATH Keywords

minimum energyminimum timeoptimal controloptimal trajectory planningPontryagin maximum principle

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Applications of optimal control and differential games (49N90) Control of mechanical systems (70Q05)

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Cites work

• A Hamiltonian approach to compute an energy efficient trajectory for a servomotor system
• A Survey of the Maximum Principles for Optimal Control Problems with State Constraints
• COLIN: planning with continuous linear numeric change
• On energy-optimal and time-optimal precise displacement of rigid body with friction
• Time-Energy Optimal Control of Articulated Systems With Geometric Path Constraints

Cited in

(3)

• Minimum mixed time-energy trajectory planning of a nonlinear vehicle subject to 2D disturbances
• ScottyActivity: mixed discrete-continuous planning with convex optimization
• On the strong local optimality for state-constrained control-affine problems

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