Time optimal path planning considering acceleration limits

Lepetic, M.; Klančar, Gregor; Škrjanc, Igor; Matko, Drago; Potočnik, Boštjan

doi:10.1016/j.robot.2003.09.007

Cited by 118 publications

(65 citation statements)

References 13 publications

(19 reference statements)

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“…Time optimal path planning requires robots to drive with high speed [2]. Thus, a smooth path is necessary in order to satisfy this requirement.…”

Section: Time Optimal Path Planning Considering Acceleration Limitsmentioning

confidence: 99%

“…If the radial acceleration in a certain point within the path is less than the physical limit, then it is said to be realizable in practical situation. In order to satisfy the radial acceleration limits, the calculations are started from either the initial, final, or turning points (local extrema of the curvature) [2]. The maximum possible tangential acceleration is computed considering the radial acceleration values on these points and by using (3): …”

Section: Figure 2 Path Based On a Cubic Bezier Curvementioning

confidence: 99%

“…Different approaches were made for the path planning that involves different types of curves such as cubic splines [2], cubic spirals [3], and Bezier curves [1,[4][5]. Another crucial factor to be considered during path planning is satisfying the physical constraints of a mobile robot.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Convolution-based Time Optimal Path Planning for a High Curvature Bezier Curve Considering Possible Physical Limits

Yang¹,

Delagado²,

Choi³

2015

IJCA

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“…Time optimal path planning requires robots to drive with high speed [2]. Thus, a smooth path is necessary in order to satisfy this requirement.…”

Section: Time Optimal Path Planning Considering Acceleration Limitsmentioning

confidence: 99%

Section: Figure 2 Path Based On a Cubic Bezier Curvementioning

confidence: 99%

See 1 more Smart Citation

Convolution-based Time Optimal Path Planning for a High Curvature Bezier Curve Considering Possible Physical Limits

Yang¹,

Delagado²,

Choi³

2015

IJCA

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show abstract

“…The problem of motion control, like path following, has also been investigated. One promising approach which motivates the proposed solution is based on model predictive control [12][13][14][15][16] for the path following or tracking problem 17,18 , since it offers a natural way to include differential constraints. In addition, this contribution extends a nonlinear model predictive path following algorithm with collision avoidance to a very efficient overall approach.…”

Section: Introductionmentioning

confidence: 99%

Untitled

Wangmanaopituk¹,

Voos²,

Kongprawechnon³

2010

ScienceAsia

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This study is based on a new approach for an advanced microproduction system or highly flexible production systems where all necessary production and assembly processes are connected in a very flexible way using autonomous mobile transport and handling robots. Each robot has to follow its planned paths while avoiding collisions with other robots. In addition, problem-specific constraints for a defined microproduction system, such as limitations of the velocity and accelerations of the robots, have to be fulfilled. This paper focuses on a two-level model predictive optimizing approach. On a global long-term level, simple dynamic models of the robots are used to compute optimal paths under differential constraints where a safety distance between all robots is achieved. Since many uncertainties and unforeseen events could occur, all robots also use a nonlinear model predictive control approach on a local real-time level. This control approach solves the path following and the collision avoidance problems in parallel, while also taking into account differential constraints of the single robots.

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“…The resulting trajectory planner directly incorporates a complete dynamic WMR model, considering non-linear motions and specifically accounting for wheel-ground interactions, which makes it necessary to run complex algorithms that significantly increase computational cost. (Lepetic et al, 2003) present a VP method that considers dynamic constraints by bounding the acceleration by the maximum wheel-ground adherence capacity. This maximum is computed as a function of a constant friction coefficient for every posture and of the weight borne by the wheel.…”

mentioning

confidence: 99%

Optimal Velocity Planning of Wheeled Mobile Robots on Specific Paths in Static and Dynamic Environments

et al. 2003

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This paper deals with optimal temporal‐planning of wheeled mobile robots (WMRs) when navigating on predefined spatial paths. A method is proposed to generate a time‐optimal velocity profile for any spatial path in static environments or when mobile obstacles are present. The method generates a feasible trajectory to be tracked by fully exploiting velocity, acceleration and deceleration boundaries of the WMR, and by ensuring the continuity of the velocity and acceleration functions. As an additional benefit for the tracking process the jerk is also bounded. The algorithm is not time consuming, since it mostly uses closed mathematical expressions, nonetheless iteration strategies are presented to solve specific situations. However, such situations are not expected to occur when the spatial paths are planned as smooth curves. The success of the algorithm was tested by experimental and simulation results on the WMR “RAM.” © 2003 Wiley Periodicals, Inc.

show abstract

Time optimal path planning considering acceleration limits

Cited by 118 publications

References 13 publications

Convolution-based Time Optimal Path Planning for a High Curvature Bezier Curve Considering Possible Physical Limits

Convolution-based Time Optimal Path Planning for a High Curvature Bezier Curve Considering Possible Physical Limits

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Optimal Velocity Planning of Wheeled Mobile Robots on Specific Paths in Static and Dynamic Environments

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