- Tytuł:
- 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 - Powiązania:
- https://bibliotekanauki.pl/articles/2055148.pdf
- Data publikacji:
- 2022
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
constraint reduction
parameter reduction
fast calculation
trajectory planning
redukcja ograniczeń
redukcja parametrów
szybka kalkulacja
planowanie trajektorii - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2022, 32, 1; 11--21
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł