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A Time-Warping Transformation for Time-Optimal Movement in Differentially Flat Systems

Greiff, Marcus LU (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:
author
organization
publishing date
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
2021-12-02 08:41:07
@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},
}