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

DOI10.1080/00207179.2021.1987526zbMath1515.93166OpenAlexW3201853252MaRDI QIDQ6040982

Gregor Klančar, Unnamed Author, Saso Blažič

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)

Cites Work

• A new method for smooth trajectory planning of robot manipulators
• Minimum-time travel for a vehicle with acceleration limits: Theoretical analysis and receding-horizon implementation
• Time-optimal velocity planning by a bound-tightening technique
• Convergence analysis of spatial-sampling-based algorithms for time-optimal smooth velocity planning
• Minimum-time control of robotic manipulators with geometric path constraints
• LP-based velocity profile generation for robotic manipulators
• Minimum-time speed optimisation over a fixed path
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