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Path constrained time-optimal trajectory planning for X-Y robots via an efficient dynamic programming method

Published online by Cambridge University Press:  01 January 1998

Chen-Wen V. Yen  and
Tsong-Zen Liu
Chen-Wen V. Yen
Affiliation:
Department of Mechanical Engineering, National Sun Yat-Sen University, Kaohsiung, Taiwan, Republic of China
Tsong-Zen Liu
Affiliation:
Department of Mechanical Engineering, National Sun Yat-Sen University, Kaohsiung, Taiwan, Republic of China
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Abstract

By exploiting an important property of the time optimal control law structure, this paper introduces a new dynamic programming approach for X-Y robot minimum time path following problem. Compared with the conventional dynamic programming method, the proposed approach significantly reduces the computational cost. The efficiency and effectiveness of the proposed approach are demonstrated via computer simulations. In addition, via experimental studies, this paper also addresses practical difficulties in implementing the minimum-time control law.

Keywords

Dynamic programmingTrajectory planningTime-optimal control
Type
Research Article
Information
Robotica , Volume 16 , Issue 1 , January 1998 , pp. 89 - 96
Copyright
© 1998 Cambridge University Press

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