Combined time and energy optimal trajectory planning with quadratic drag for mixed discrete-continuous task planning

ABSTRACT

The problem of mixed discrete-continuous task planning for mechanical systems, such as aerial drones or other autonomous units, can be often treated as a sequence of point-to-point trajectories. In this work, the problem of optimal trajectory planning under a combined completion time and energy criterion, for a straight point to point path for a second-order system with quadratic under state (velocity) and control (acceleration) constraints is considered. The solution is obtained and proved to be optimal using the Pontryagin Maximum Principle. Simulation results for different cases are presented and compared with a customary numerical optimal control solver.     

Minimum Mixed Time–Energy Trajectory Planning of a Nonlinear Vehicle Subject to 2D Disturbances

Journal of Optimization Theory and Applications - The problem of a planar vehicle moving on a surface, such as aerial drones or small naval vessels, can be treated as a series of trajectory...