Minimum-time velocity profile planning for planar motion considering velocity, acceleration and jerk constraints

DOI10.1080/00207179.2021.1987526MaRDI QIDQ6040982zbMATH OpenOpenAlexFDO

Authors Sašo Blažič, Gregor Klancar

Publication date 25 May 2023

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2021.1987526

zbMATH Keywords

velocity profilejerk constraintsacceleration constraintsminimum-time planning

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 3167340 (Why is no real title available?)
• scientific article; zbMATH DE number 4091389 (Why is no real title available?)
• A new method for smooth trajectory planning of robot manipulators
• Convergence analysis of spatial-sampling-based algorithms for time-optimal smooth velocity planning
• LP-based velocity profile generation for robotic manipulators
• Minimum-time control of robotic manipulators with geometric path constraints
• Minimum-time speed optimisation over a fixed path
• Minimum-time travel for a vehicle with acceleration limits: Theoretical analysis and receding-horizon implementation
• Time-optimal velocity planning by a bound-tightening technique

Cited in

(5)

• Minimum-time travel for a vehicle with acceleration limits: Theoretical analysis and receding-horizon implementation
• An optimal complexity algorithm for minimum-time velocity planning
• A curvature-segmentation-based minimum time algorithm for autonomous vehicle velocity planning
• Optimizing \(S\)-curve velocity for motion control
• LP-based velocity profile generation for robotic manipulators

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