Minimum-Time Planar Paths with up to Two Constant Acceleration Inputs and $L_2$ Velocity and Acceleration Constraints
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866910357375680512 |
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| author | Baez, Victor M. Zhao, Haoran Abdurahiman, Nihal Navkar, Nikhil V. Becker, Aaron T. |
| author_facet | Baez, Victor M. Zhao, Haoran Abdurahiman, Nihal Navkar, Nikhil V. Becker, Aaron T. |
| contents | Given starting and ending positions and velocities, $L_2$ bounds on the acceleration and velocity, and the restriction to no more than two constant control inputs, this paper provides routines to compute the minimal-time path. Closed form solutions are provided for reaching a position in minimum time with and without a velocity bound, and for stopping at the goal position.
A numeric solver is used to reach a goal position and velocity with no more than two constant control inputs. If a cruising phase at the terminal velocity is needed, this requires solving a non-linear equation with a single parameter. Code is provided on GitHub at https://github.com/RoboticSwarmControl/MinTimeL2pathsConstraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_04602 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Minimum-Time Planar Paths with up to Two Constant Acceleration Inputs and $L_2$ Velocity and Acceleration Constraints Baez, Victor M. Zhao, Haoran Abdurahiman, Nihal Navkar, Nikhil V. Becker, Aaron T. Robotics Given starting and ending positions and velocities, $L_2$ bounds on the acceleration and velocity, and the restriction to no more than two constant control inputs, this paper provides routines to compute the minimal-time path. Closed form solutions are provided for reaching a position in minimum time with and without a velocity bound, and for stopping at the goal position. A numeric solver is used to reach a goal position and velocity with no more than two constant control inputs. If a cruising phase at the terminal velocity is needed, this requires solving a non-linear equation with a single parameter. Code is provided on GitHub at https://github.com/RoboticSwarmControl/MinTimeL2pathsConstraints. |
| title | Minimum-Time Planar Paths with up to Two Constant Acceleration Inputs and $L_2$ Velocity and Acceleration Constraints |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.04602 |