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

DOI10.1007/S10957-021-01990-0zbMath1484.49037OpenAlexW4210686030MaRDI QIDQ2115261

Ayal Taitler, Erez Karpas, Gutman, Per-Olof, Ioslovich, Ilya

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)

Uses Software

• Ipopt
• COLIN
• FALCON.m

Cites Work

• Unnamed Item
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• Computation of feasible control trajectories for the navigation of a ship around an obstacle in the presence of a sea current
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• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• COLIN: Planning with Continuous Linear Numeric Change
• Semianalytical minimum-time solution for the optimal control of a vehicle subject to limited acceleration
• ScottyActivity: Mixed Discrete-Continuous Planning with Convex Optimization
• Combined time and energy optimal trajectory planning with quadratic drag for mixed discrete-continuous task planning
• A Survey of the Maximum Principles for Optimal Control Problems with State Constraints
• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach

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