Time-optimal Point-to-point Motion Planning: A Two-stage Approach
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arXiv
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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866911790091206656 |
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| author | Zhang, Shuhao Swevers, Jan |
| author_facet | Zhang, Shuhao Swevers, Jan |
| contents | This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage with a variable time grid. The proposed approach brings benefits through its straightforward optimal control problem formulation with a fixed and low number of control steps for manageable computational complexity and the avoidance of interpolation errors associated with time scaling, especially when aiming to reach a distant goal. Additionally, an asynchronous nonlinear model predictive control (NMPC) update scheme is integrated with this two-stage approach to address delayed and fluctuating computation times, facilitating online replanning. The effectiveness of the proposed two-stage approach and NMPC implementation is demonstrated through numerical examples centered on autonomous navigation with collision avoidance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_03573 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Time-optimal Point-to-point Motion Planning: A Two-stage Approach Zhang, Shuhao Swevers, Jan Robotics Systems and Control This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage with a variable time grid. The proposed approach brings benefits through its straightforward optimal control problem formulation with a fixed and low number of control steps for manageable computational complexity and the avoidance of interpolation errors associated with time scaling, especially when aiming to reach a distant goal. Additionally, an asynchronous nonlinear model predictive control (NMPC) update scheme is integrated with this two-stage approach to address delayed and fluctuating computation times, facilitating online replanning. The effectiveness of the proposed two-stage approach and NMPC implementation is demonstrated through numerical examples centered on autonomous navigation with collision avoidance. |
| title | Time-optimal Point-to-point Motion Planning: A Two-stage Approach |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2403.03573 |