Minimum-Time Planar Paths with up to Two Constant Acceleration Inputs and $L_2$ Velocity and Acceleration Constraints
Abstract
Given starting and ending positions and velocities, bounds on the acceleration and velocity, and the restriction to no more than two constant control inputs, this paper provides routines to compute the minimal-time path. Closed form solutions are provided for reaching a position in minimum time with and without a velocity bound, and for stopping at the goal position. A numeric solver is used to reach a goal position and velocity with no more than two constant control inputs. If a cruising phase at the terminal velocity is needed, this requires solving a non-linear equation with a single parameter. Code is provided on GitHub at https://github.com/RoboticSwarmControl/MinTimeL2pathsConstraints.
Cite
@article{arxiv.2403.04602,
title = {Minimum-Time Planar Paths with up to Two Constant Acceleration Inputs and $L_2$ Velocity and Acceleration Constraints},
author = {Victor M. Baez and Haoran Zhao and Nihal Abdurahiman and Nikhil V. Navkar and Aaron T. Becker},
journal= {arXiv preprint arXiv:2403.04602},
year = {2024}
}
Comments
8 pages, 8 figures, accepted for presentation at ACC 2024, https://acc2024.a2c2.org/