Effcient approximation of optimal high-order kinematic trajectories

John G. Mooney, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A method for efficiently planning one-dimensional pop-limited trajectories is presented, along with a direct method for synchronizing trajectories across multiple dimensions. This heuristic is designed for a double integrator utilizing acceleration commands passed through a 4th-order cascaded filter, the model for which is presented along with the system solution for an arbitrary time step and derivative limits. Examples for trajectories generated in both one and two dimensions are shown, with comparison to an iterative solver which searches for the exact optimal solution. The presented algorithm shows drastically lower computational requirements than the iterative solver, with very little cost in accuracy. Benefits and limitations of this approach are discussed.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624103896
StatePublished - Jan 1 2016
EventAIAA Guidance, Navigation, and Control Conference, 2016 - San Diego, United States
Duration: Jan 4 2016Jan 8 2016

Publication series

Name2016 AIAA Guidance, Navigation, and Control Conference

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2016
CountryUnited States
CitySan Diego
Period1/4/161/8/16

Fingerprint

Kinematics
Trajectories
Derivatives
Planning
Costs

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering

Cite this

Mooney, J. G., & Johnson, E. N. (2016). Effcient approximation of optimal high-order kinematic trajectories. In AIAA Guidance, Navigation, and Control Conference (2016 AIAA Guidance, Navigation, and Control Conference). American Institute of Aeronautics and Astronautics Inc, AIAA.
Mooney, John G. ; Johnson, Eric N. / Effcient approximation of optimal high-order kinematic trajectories. AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, 2016. (2016 AIAA Guidance, Navigation, and Control Conference).
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Mooney, JG & Johnson, EN 2016, Effcient approximation of optimal high-order kinematic trajectories. in AIAA Guidance, Navigation, and Control Conference. 2016 AIAA Guidance, Navigation, and Control Conference, American Institute of Aeronautics and Astronautics Inc, AIAA, AIAA Guidance, Navigation, and Control Conference, 2016, San Diego, United States, 1/4/16.

Effcient approximation of optimal high-order kinematic trajectories. / Mooney, John G.; Johnson, Eric N.

AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, 2016. (2016 AIAA Guidance, Navigation, and Control Conference).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Mooney JG, Johnson EN. Effcient approximation of optimal high-order kinematic trajectories. In AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA. 2016. (2016 AIAA Guidance, Navigation, and Control Conference).