Calculating a near time-optimal jerk-constrained trajectory along a specified smooth path.

摘要: This article presents a near time-optimal and jerk-constrained trajectory planner. The presented work is an extension to the “proximate algorithm” (Pardo-Castellote Cannon, IEEE Int Conf Robot Autom 2:1539–1546, 1996), which used determine smooth path-constrained trajectories, problems where not only velocity acceleration but also jerk are explicitly constrained. It shown that constraint on translates into limits for curvature of phase-space velocity. As high-speed motion systems become more accurate, trend goes clearly towards calculation avoid large deviations from planned during complete move. proposed algorithm nonperturbative its time linear with respect length path.