Time-optimal Point-to-point Motion Planning: A Two-stage Approach
Abstract
This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage with a variable time grid. The proposed approach brings benefits through its straightforward optimal control problem formulation with a fixed and low number of control steps for manageable computational complexity and the avoidance of interpolation errors associated with time scaling, especially when aiming to reach a distant goal. Additionally, an asynchronous nonlinear model predictive control (NMPC) update scheme is integrated with this two-stage approach to address delayed and fluctuating computation times, facilitating online replanning. The effectiveness of the proposed two-stage approach and NMPC implementation is demonstrated through numerical examples centered on autonomous navigation with collision avoidance.
Cite
@article{arxiv.2403.03573,
title = {Time-optimal Point-to-point Motion Planning: A Two-stage Approach},
author = {Shuhao Zhang and Jan Swevers},
journal= {arXiv preprint arXiv:2403.03573},
year = {2024}
}