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• W4285240788 endingPage "7382" @default.
• W4285240788 startingPage "7375" @default.
• W4285240788 abstract "Online time-optimal trajectory planning exists in a wide range of applications such as computer numerical control (CNC) manufacturing, robotics and autonomous vehicles. Generally, the methods to generate such time-parameterized trajectory can be categorized as offline methods and online methods. Offline methods tend to generate time-optimal trajectory while it is computationally prohibitive for high frequency real-time applications. Current online methods are computationally efficient but either deal with the sparse waypoint trajectories or sacrifice the time optimality a lot. This letter innovatively proposed a time-optimal switching trajectory index coordination (TOS-TIC) strategy to solve the online time-optimal planning problem for continuous multi-axis trajectories. The proposed method is able to generate time-optimal trajectory for continuous geometric paths while considering high order kinematic constraints. The time-optimality of the trajectory planned by TOS-TIC is nearly the same as the offline planned optimal results. Meanwhile, the proposed method is computationally efficient for online applications. The proposed TOS-TIC planning strategy is an universal approach and firstly able to solve the online time-optimal trajectory planning problem for constrained continuous multi-axis trajectories, which has excellent application prospect in modern automatic industry and intelligent robots/vehicles." @default.
• W4285240788 created "2022-07-14" @default.
• W4285240788 creator A5006031631 @default.
• W4285240788 creator A5024709603 @default.
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• W4285240788 creator A5079033650 @default.
• W4285240788 date "2022-07-01" @default.
• W4285240788 modified "2023-10-16" @default.
• W4285240788 title "An Online Time-Optimal Trajectory Planning Method for Constrained Multi-Axis Trajectory With Guaranteed Feasibility" @default.
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• W4285240788 doi "https://doi.org/10.1109/lra.2022.3183536" @default.
• W4285240788 hasPublicationYear "2022" @default.
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