A Time-Warping Transformation for Time-Optimal Movement in Differentially Flat Systems
(2018) 2018 Annual American Control Conference, ACC 2018 2018-June. p.6723-6730- Abstract
The notion of warping the rate of time is explored in the context of differentially flat systems to enable time-optimal motion by convex optimisation. Examples are given with systems configured on the special Euclidean groups SE(2) and SE(3), with and without differential constraints. The proposed method complements classical methods of motion planning, may be used in a real-time context with guarantees on time-optimality subject to constraints on the first two derivatives on the flat output trajectory and all time-warping derivatives. In addition, an iterative method is presented to find close-to-optimal solutions in the event of non-convex constraints.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/d7ffb200-8e39-46dd-aac2-9deff063d5d7
- author
- Greiff, Marcus LU
- organization
- publishing date
- 2018-08-09
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proceedings of the American Control Conference
- volume
- 2018-June
- article number
- 8431230
- pages
- 8 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2018 Annual American Control Conference, ACC 2018
- conference location
- Milwauke, United States
- conference dates
- 2018-06-27 - 2018-06-29
- external identifiers
-
- scopus:85052591413
- ISBN
- 9781538654286
- DOI
- 10.23919/ACC.2018.8431230
- language
- English
- LU publication?
- yes
- id
- d7ffb200-8e39-46dd-aac2-9deff063d5d7
- date added to LUP
- 2018-10-17 13:16:29
- date last changed
- 2022-05-03 06:59:41
@inproceedings{d7ffb200-8e39-46dd-aac2-9deff063d5d7, abstract = {{<p>The notion of warping the rate of time is explored in the context of differentially flat systems to enable time-optimal motion by convex optimisation. Examples are given with systems configured on the special Euclidean groups SE(2) and SE(3), with and without differential constraints. The proposed method complements classical methods of motion planning, may be used in a real-time context with guarantees on time-optimality subject to constraints on the first two derivatives on the flat output trajectory and all time-warping derivatives. In addition, an iterative method is presented to find close-to-optimal solutions in the event of non-convex constraints.</p>}}, author = {{Greiff, Marcus}}, booktitle = {{Proceedings of the American Control Conference}}, isbn = {{9781538654286}}, language = {{eng}}, month = {{08}}, pages = {{6723--6730}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{A Time-Warping Transformation for Time-Optimal Movement in Differentially Flat Systems}}, url = {{http://dx.doi.org/10.23919/ACC.2018.8431230}}, doi = {{10.23919/ACC.2018.8431230}}, volume = {{2018-June}}, year = {{2018}}, }