IEEE - Institute of Electrical and Electronics Engineers, Inc. - Nearly Optimal Path Following With Jerk and Torque Rate Limits Using Dynamic Programming

Author(s): Dominik Kaserer ; Hubert Gattringer ; Andreas Mueller
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1 - 8
ISSN (Electronic): 1941-0468
ISSN (Paper): 1552-3098
DOI: 10.1109/TRO.2018.2880120
Regular:

This paper presents a new dynamic programming (DP) approach to the optimal path following problem. The method rests on an interpolation in the phase plane so that the resulting joint accelerations... View More

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