Feedrate optimization for smooth minimum-time trajectory generation with higher order constraints
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 82(5-8), 1029–1040.
author keywords: Feedrate scheduling; Jerk constraints; Trajectory generation; Optimal control
TL;DR:
This paper proposes a heuristic trajectory planning algorithm that can provide a near-optimal minimum time trajectory for problems with higher order dynamic states and supports the incorporation of higher orderynamic states in constraints for optimization without sacrificing the computational efficiency.
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