<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</abstract>

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.

Fast and Smooth Trajectory Planning for a Class of Linear Systems Based on Parameter and Constraint Reduction

Hangzhou Dianzi University Xiasha Higher Education Zone

Zhejiang University of Finance and Economics

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Fast and smooth trajectory planning is crucial for modern control systems, e.g., missiles, aircraft, robots and AGVs. However, classical spline based...

Fast and Smooth Trajectory Planning for a Class of Linear Systems Based on Parameter and Constraint Reduction

Published Online: Mar 31, 2022

Page range: 11 - 21

Received: Jul 28, 2021

Accepted: Dec 06, 2021

DOI: https://doi.org/10.34768/amcs-2022-0002

Keywords
constraint reduction, parameter reduction, fast calculation, trajectory planning

© 2022 Guangyu Liu et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Fast and Smooth Trajectory Planning for a Class of Linear Systems Based on Parameter and Constraint Reduction

Published Online: Mar 31, 2022

Page range: 11 - 21

Received: Jul 28, 2021

Accepted: Dec 06, 2021

DOI: https://doi.org/10.34768/amcs-2022-0002

Keywordsconstraint reduction, parameter reduction, fast calculation, trajectory planning

© 2022 Guangyu Liu et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
constraint reduction, parameter reduction, fast calculation, trajectory planning