Time optimal online trajectory planning method based on S-type velocity planning

A time-optimized and trajectory planning technology, applied in two-dimensional position/course control, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as initial acceleration values, and achieve the goal of improving solution efficiency Effect

Inactive Publication Date: 2019-09-06
SIASUN CO LTD
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Problems solved by technology

However, the existing S-programming methods usually focus on the case where the initial acceleration is 0
After the movement has started, if the movement constraints change, such as requiring faster speed, or the moving target changes, such as the position of the target point changes, real-time re-planning is required to ensure the completion of the task, but after the movement has occurred , there may be an initial acceleration value, which cannot be realized by the traditional S-programming method

Method used

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  • Time optimal online trajectory planning method based on S-type velocity planning
  • Time optimal online trajectory planning method based on S-type velocity planning
  • Time optimal online trajectory planning method based on S-type velocity planning

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Embodiment Construction

[0053] Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0054] attached figure 2 The flow chart of the exemplary embodiment of the online trajectory planning method based on S-type velocity planning is provided in the present invention, comprising the following steps:

[0055] S1: Input the current initial motion state and target motion state of the robot. Including initial position p0, initial velocity v0, initial acceleration a0, target position pt, target velocity vt, target acceleration at...

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Abstract

The invention relates to a time optimal online trajectory planning method based on S-type velocity planning. The time optimal online trajectory planning method comprises the steps of inputting calculation parameters, calculating a critical value, determining an acceleration curve type, and solving trajectory parameters. The time optimal online trajectory planning method ensures that the time is optimal within constraint conditions, can be used for adjusting a trajectory in real time online, can input initial acceleration arbitrarily, represents a displacement error function by using process parameters, solves a system of linear equations through analyzing the error function, and is stable and efficient.

Description

technical field [0001] The invention relates to the field of robot motion planning, in particular to a time-optimal online trajectory planning method based on S-type speed planning. Background technique [0002] When the robot controller performs a specified task, it will give the position and speed information of the moving target point, that is, the target motion state; at the same time, when the controller starts the task, it will collect the current position, speed and acceleration information of the robot. That is, the initial motion state. In the process of performing tasks, considering different application and different process requirements, it is usually necessary to specify certain motion constraints, such as the maximum speed allowed by this motion. [0003] At present, there are two main ways to plan robot trajectory according to a certain initial motion state, target motion state and constraint conditions: [0004] 1) Given the first and last motion constraint...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0223
Inventor 杨跞张一楠赵炜许楠李法设
Owner SIASUN CO LTD
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