文章基本信息

标题：Fast and Smooth Trajectory Planning for a Class of Linear Systems Based on Parameter and Constraint Reduction
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作者：Liu Guangyu ; Wu Shangliang ; Zhu Ling 等
期刊名称：International Journal of Applied Mathematics and Computer Science
电子版ISSN：2083-8492
出版年度：2022
卷号：32
期号：1
页码：11-21
DOI：10.34768/amcs-2022-0002
语种：English
出版社：De Gruyter Open
摘要：Fast and smooth trajectory planning is crucial for modern control systems, e.g., missiles, aircraft, robots and AGVs. However, classical spline based trajectory planning tools introduce redundant constraints and parameters, leading to high costs of computation and complicating fast and smooth execution of trajectory planning tasks. A new tool is proposed that employs truncated power functions to annihilate some constraints and reduce the number of parameters in the optimal model. It enables solving a simplified optimal problem in a shorter time while keeping the trajectory sufficiently smooth. With an engineering background, our case studies show that the proposed method has advantages over other solutions. It is promising in regard to the demanding tasks of trajectory planning.