Fast and Smooth Trajectory Planning for a Class of Linear Systems Based on Parameter and Constraint Reduction

International Journal of Applied Mathematics and Computer Science

Lv Qiang¹  Liu Guangyu¹  Wu Shangliang¹  Wang Jiajun¹  Zhu Ling² 

[1] School of Automation EngineeringHangzhou Dianzi University Xiasha Higher Education Zone, Hangzhou, Zhejiang Province, China;School of Information Management and Artificial Intelligence, Zhejiang University of Finance and Economics18 Xueyuan Street, Xiasha Higher Education Zone, Hangzhou City, Zhejiang Province, China;

关键词: constraint reduction;    parameter reduction;    fast calculation;    trajectory planning;   

DOI  :  10.34768/amcs-2022-0002

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown