Min-Time Planar Paths with L2 Velocity & Acceleration Constraints, Limited # Constant Acc. Inputs
Our paper examines methods to quickly compute a time-optimal path for no-more than two thrust inputs, under speed and acceleration limits. Our solutions provide the time-optimal solution for reaching a goal position, or for stopping at a goal position, even when compared to continuously varying acceleration inputs. It enables quickly finding trajectories between arbitrary ending and starting states.
"Minimum-Time Planar Paths with L_2 Velocity and Acceleration Constraints and a Limited Number of Constant Acceleration Inputs", 2024 American Control Conference, https://acc2024.a2c2.org/
Authors: Victor M. Baez, Haoran Zhao, Nihal Abdurahiman, Nikhil V. Navkar, and Aaron T. Becker
This work was supported by National Priority Research Program (NPRP) award (NPRP13S-0116-200084) from the Qatar National Research Fund (a member of The Qatar Foundation),
the Alexander von Humboldt Foundation, and the National Science Foundation under https://www.nsf.gov/awardsearch/showA... CNS 1932572,
https://nsf.gov/awardsearch/showAward... IIS 1849303, and
https://nsf.gov/awardsearch/showAward... IIS 2130793. All opinions, findings, conclusions or recommendations expressed in this work are those of the authors and do not necessarily reflect the views of our sponsors.