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
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.
- Research Article
- © 1998 Cambridge University Press