论文标题
SCTOMP：空间限制的时间最佳运动计划
SCTOMP: Spatially Constrained Time-Optimal Motion Planning
论文作者
论文摘要
本文重点介绍了空间时间优势运动计划，这是对确切的时间优化路径的概括，允许系统在预定义的空间内进行计划。与最新方法相反，我们放弃了一个假设，即给出了无碰撞的几何参考。取而代之的是，我们提出了一种两阶段的运动计划方法，该方法仅依靠目标位置和环境的几何表示来计算符合系统动力学和约束的时间优势轨迹。为此，提议的方案首先计算无障碍物的毕达哥拉斯杂志参数样条，第二个解决了空间重新打好的最低时间优化问题。在第一阶段获得的样条不是几何参考，而是环境表示的扩展，因此可以保证解决方案的时间优先。所提出的方法的功效通过已知的平面示例进行了基准测试，并在更复杂的空间系统中进行了验证，以说明其多功能性和适用性。
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the assumption that a collision-free geometric reference is given. Instead, we present a two-stage motion planning method that solely relies on a goal location and a geometric representation of the environment to compute a time-optimal trajectory that is compliant with system dynamics and constraints. To do so, the proposed scheme first computes an obstacle-free Pythagorean Hodograph parametric spline, and second solves a spatially reformulated minimum-time optimization problem. The spline obtained in the first stage is not a geometric reference, but an extension of the environment representation, and thus, time-optimality of the solution is guaranteed. The efficacy of the proposed approach is benchmarked by a known planar example and validated in a more complex spatial system, illustrating its versatility and applicability.
