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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/7856590
- author
- Ghazaei, Mahdi
LU
; Stemmann, Meike
LU
; Robertsson, Anders
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2015
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proc. 2015 IEEE Conference on Control and Applications (CCA 2015)
- series title
- 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
- conference location
- Sydney, Australia
- conference dates
- 2015-09-21 - 2015-09-23
- external identifiers
-
- wos:000369332000040
- scopus:84964330609
- ISSN
- 1085-1992
- ISBN
- 978-1-4799-7787-1
- project
- LCCC
- RobotLab LTH
- language
- English
- LU publication?
- yes
- additional info
- key=mahdi_etal_msc15 month=09
- id
- bffb832a-e464-47c2-85ab-dc02ce91f49b (old id 7856590)
- date added to LUP
- 2016-04-04 09:56:33
- date last changed
- 2023-01-05 21:28:55
@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 = {{Proc. 2015 IEEE Conference on Control and Applications (CCA 2015)}},
isbn = {{978-1-4799-7787-1}},
issn = {{1085-1992}},
language = {{eng}},
pages = {{11--306}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
series = {{IEEE International Conference on Control Applications}},
title = {{An Analytic Solution to Fixed-Time Point-to-Point Trajectory Planning}},
url = {{https://lup.lub.lu.se/search/files/5422599/8053861.pdf}},
year = {{2015}},
}