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

DOI10.1080/02331934.2018.1502769zbMath1411.49025OpenAlexW2884603749MaRDI QIDQ4613989

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

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

optimal controlPontryagin maximum principleminimum energyminimum timeoptimal trajectory planning

Mathematics Subject Classification ID

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

Related Items (2)

On the strong local optimality for state-constrained control-affine problems ⋮ Minimum mixed time-energy trajectory planning of a nonlinear vehicle subject to 2D disturbances

Cites Work

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

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