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Sequential Time-Optimal Path-Tracking Algorithm for Robots
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DOI：10.1109/TRO.2019.2920090.png)
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Abstract
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This paper focuses on minimum-time path tracking, a subproblem in motion planning of robotic systems. We generate a time-optimal velocity profile for robotic manipulators taking into account kinematic and dynamic constraints. Based on the special structure of the constraints (called peaked constraints), profile generation is formulated as a linear programming (LP) problem. The LP-based control problem is solved by a sequential optimization method. The presented algorithm has reduced computational time compared to a general LP solver.
Keywords:
Convex optimization
linear programming (LP)
path planning
path tracking
time-optimal control
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