2024/03/06 by Shuhao Zhang, Jan Swevers, Zhang, Shuhao +1
Computer Science · Engineering · #Computational Geometry and Mesh Generation #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2403.03573
openalex publication_date 2024/03/06 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage with a variable time grid. The proposed approach brings benefits through its straightforward optimal control problem formulation with a fixed and low number of control steps for manageable computational complexity and the avoidance of interpolation errors associated with time scaling, especially when aiming to reach a distant goal. Additionally, an asynchronous nonlinear model predictive control (NMPC) update scheme is integrated with this two-stage approach to address delayed and fluctuating computation times, facilitating online replanning. The effectiveness of the proposed two-stage approach and NMPC implementation is demonstrated through numerical examples centered on autonomous navigation with collision avoidance.