A minimum-time motion planning method based on phase space analysis

In this paper, we propose a minimum time motion planning algorithm considering jerk and acceleration constraints. The conventional planning methods are valid only for zero boundary conditions, thus they have limitations in real time applications. The proposed method is computationally efficient and can deal with a problem with non-zero boundary conditions so that it is adequate for real time motion planning. For the real time implementation, the planning algorithm is derived in the phase space. In order to determine the jerk, a landing surface is introduced through bang-bang principle. To show the validity of the proposed method, a series of simulations are conducted. The algorithm has merits of providing a consistent and unified numeric solution for motion control system requiring the real time motion planning with jerk constraint and suffering from strong disturbance