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

• Autorzy: Liu Guangyu , Wu Shangliang , Zhu Ling , Wang Jiajun , Lv Qiang

Identyfikatory

DOI

10.34768/amcs-2022-0002

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

constraint reduction; parameter reduction; fast calculation; trajectory planning

PL

redukcja ograniczeń; redukcja parametrów; szybka kalkulacja; planowanie trajektorii

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2022
• Tom: Vol. 32, no. 1
• Strony: 11--21
• Opis fizyczny: Bibliogr. 31 poz., rys., tab., wykr.

Twórcy

autor

Liu Guangyu

• School of Automation Engineering Hangzhou Dianzi University Xiasha Higher Education Zone, Hangzhou, Zhejiang Province, China

autor

Wu Shangliang

• School of Automation Engineering Hangzhou Dianzi University Xiasha Higher Education Zone, Hangzhou, Zhejiang Province, China

autor

Zhu Ling

• School of Information Management and Artificial Intelligence Zhejiang University of Finance and Economics 18 Xueyuan Street, Xiasha Higher Education Zone, Hangzhou City, Zhejiang Province, China

autor

Wang Jiajun

• School of Automation Engineering Hangzhou Dianzi University Xiasha Higher Education Zone, Hangzhou, Zhejiang Province, China

autor

Lv Qiang

• School of Automation Engineering Hangzhou Dianzi University Xiasha Higher Education Zone, Hangzhou, Zhejiang Province, China

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