Calculation of time-optimal motion primitives for systems exhibiting oscillatory internal dynamics
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2024
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866916687101558784 |
|---|---|
| author | Auer, Thomas Woittennek, Frank |
| author_facet | Auer, Thomas Woittennek, Frank |
| contents | An algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. It is based on assembling a complete trajectory from motion primitives called jerk segments, which are the time-optimal solution to an optimization problem. To achieve the shortest overall transition time, it is advantageous to recompute these segments for different acceleration levels within the motion planning procedure. This publication presents a numerical calculation method enabling fast and reliable calculation. This is achieved by explicitly evaluating the optimality conditions that arise for the problem, and further by reducing the evaluation of these conditions to a line-search problem on a bounded interval. This reduction guarantees, that a valid solution if found after a fixed number of computational steps, making the calculation time constant and predictable. Furthermore, the algorithm does not rely on optimisation algorithms, which allowed its implementation on a laboratory system for measurements with the purpose of validating the approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_19148 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Calculation of time-optimal motion primitives for systems exhibiting oscillatory internal dynamics Auer, Thomas Woittennek, Frank Systems and Control An algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. It is based on assembling a complete trajectory from motion primitives called jerk segments, which are the time-optimal solution to an optimization problem. To achieve the shortest overall transition time, it is advantageous to recompute these segments for different acceleration levels within the motion planning procedure. This publication presents a numerical calculation method enabling fast and reliable calculation. This is achieved by explicitly evaluating the optimality conditions that arise for the problem, and further by reducing the evaluation of these conditions to a line-search problem on a bounded interval. This reduction guarantees, that a valid solution if found after a fixed number of computational steps, making the calculation time constant and predictable. Furthermore, the algorithm does not rely on optimisation algorithms, which allowed its implementation on a laboratory system for measurements with the purpose of validating the approach. |
| title | Calculation of time-optimal motion primitives for systems exhibiting oscillatory internal dynamics |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2411.19148 |