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An Analytic Solution to Fixed-Time Point-to-Point Trajectory Planning

Ghazaei, Mahdi LU ; Stemmann, Meike LU ; Robertsson, Anders LU and Johansson, Rolf LU (2015) IEEE Conference on Control Applications, 2015 In IEEE International Conference on Control Applications p.11-306
Abstract
We derive an analytic solution to the problem of fixed-time trajectory generation with a quadratic cost function under velocity and acceleration constraints. This problem has a wide range of applications within motion planning. The advantage of the analytic solution compared to numerical optimization of the discretized problem is the unlimited resolution of the solution and the efficiency of the calculation, allowing sensor-based replanning and on-line trajectory generation.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
IEEE International Conference on Control Applications
pages
11 - 306
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE Conference on Control Applications, 2015
external identifiers
  • wos:000369332000040
  • scopus:84964330609
ISSN
1085-1992
ISBN
978-1-4799-7787-1
project
LCCC
language
English
LU publication?
yes
id
bffb832a-e464-47c2-85ab-dc02ce91f49b (old id 7856590)
date added to LUP
2015-09-07 09:43:56
date last changed
2017-01-01 07:55:08
@inproceedings{bffb832a-e464-47c2-85ab-dc02ce91f49b,
  abstract     = {We derive an analytic solution to the problem of fixed-time trajectory generation with a quadratic cost function under velocity and acceleration constraints. This problem has a wide range of applications within motion planning. The advantage of the analytic solution compared to numerical optimization of the discretized problem is the unlimited resolution of the solution and the efficiency of the calculation, allowing sensor-based replanning and on-line trajectory generation.},
  author       = {Ghazaei, Mahdi and Stemmann, Meike and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {IEEE International Conference on Control Applications},
  isbn         = {978-1-4799-7787-1},
  issn         = {1085-1992},
  language     = {eng},
  pages        = {11--306},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {An Analytic Solution to Fixed-Time Point-to-Point Trajectory Planning},
  year         = {2015},
}