Solution to a path problem with maximum values of derivatives

Asked Apr 23 '15 at 10:11

Active Apr 23 '15 at 10:11

Viewed 50 times

I want to minimize the travel time from known position A to known position B while the derivatives of path are below their maximum value.

I have:

v[t] <= vmax ... velocity

a[t] <= amax ... acceleration

j[t] <= jmax ... jerk

j2[t] <= j2max ... jounce

j2[t] is -j2max or 0 or j2max

This is the plot of all values:

path derivatives

I would need to find a method that works well on lots of path segments. I was thinking of some finite difference method or something similar. Any suggestions?

asked Apr 23 '15 at 10:11

pazduha

Do you care how fast you're moving when you get there? – Christopher Apr 23 '15 at 10:14
I have a limit velocity for every segment. So the final velocity has to be less than the max velocity for the next segment. – pazduha Apr 23 '15 at 10:18

Solution to a path problem with maximum values of derivatives

0 Answers0