Time Optimal Driving on Two-Dimensional Curved Path

DOI

Bibliographic Information

Other Title
  • 二次元曲線軌道上の最短時間駆動

Abstract

A minimum-time driving algorithm is obtained for two-dimensional curved path. The algorithm takes speed, acceleration and jerk as constraints. By taking jerk constraint, the acceleration time-derivative is limited and smooth driving is guaranteed. It is also found that the given path must possess G2 or higher continuity for applying jerk constraint. For a given set of speed, acceleration and jerk constraint, it is proved that the minimum driving time depends on path length, curvature and curvature′s path length derivative along path. The resultant driving pattern guarantees minimum-time smooth driving. This means high efficient and low stress moving on given path.

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Keywords

Details 詳細情報について

  • CRID
    1390001205655914880
  • NII Article ID
    130005264182
  • DOI
    10.11522/pscjspe.2016s.0_753
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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