Structural analysis of combined time and energy optimal trajectory planning with quadratic drag

Ayal Taitler; Ilya Ioslovich; Erez Karpas; Per Olof Gutman; Joseph Z. Ben-Asher

doi:10.1109/MED.2019.8798498

Structural analysis of combined time and energy optimal trajectory planning with quadratic drag

Ayal Taitler, Ilya Ioslovich, Erez Karpas, Per Olof Gutman, Joseph Z. Ben-Asher

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

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. The combined time-energy optimal solution between points in the state space is critical not only for the calculation of the trajectory but also for the feasibility checking of the plan. In this work, we extend from previous results, a combined criterion for a second-order system with quadratic drag, under state (velocity) and control (acceleration) constraints. We show that the solution has a special structure that is maintained even in the marginal cases. We prove this result using the Pontryagin Maximum Principle. Simulations supporting the results are provided for different parameters.

Original language	English
Title of host publication	27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers
Pages	153-158
Number of pages	6
ISBN (Electronic)	9781728128030
DOIs	https://doi.org/10.1109/MED.2019.8798498
State	Published - 1 Jul 2019
Externally published	Yes
Event	27th Mediterranean Conference on Control and Automation, MED 2019 - Akko, Israel Duration: 1 Jul 2019 → 4 Jul 2019

Publication series

Name	27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings

Conference

Conference	27th Mediterranean Conference on Control and Automation, MED 2019
Country/Territory	Israel
City	Akko
Period	1/07/19 → 4/07/19

ASJC Scopus subject areas

Computer Science Applications
Control and Optimization
Modeling and Simulation

Access to Document

10.1109/MED.2019.8798498

Cite this

Taitler, A., Ioslovich, I., Karpas, E., Gutman, P. O., & Ben-Asher, J. Z. (2019). Structural analysis of combined time and energy optimal trajectory planning with quadratic drag. In 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings (pp. 153-158). Article 8798498 (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MED.2019.8798498

Taitler, Ayal ; Ioslovich, Ilya ; Karpas, Erez et al. / Structural analysis of combined time and energy optimal trajectory planning with quadratic drag. 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings. Institute of Electrical and Electronics Engineers, 2019. pp. 153-158 (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings).

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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. The combined time-energy optimal solution between points in the state space is critical not only for the calculation of the trajectory but also for the feasibility checking of the plan. In this work, we extend from previous results, a combined criterion for a second-order system with quadratic drag, under state (velocity) and control (acceleration) constraints. We show that the solution has a special structure that is maintained even in the marginal cases. We prove this result using the Pontryagin Maximum Principle. Simulations supporting the results are provided for different parameters.",

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Taitler, A, Ioslovich, I, Karpas, E, Gutman, PO & Ben-Asher, JZ 2019, Structural analysis of combined time and energy optimal trajectory planning with quadratic drag. in 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings., 8798498, 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings, Institute of Electrical and Electronics Engineers, pp. 153-158, 27th Mediterranean Conference on Control and Automation, MED 2019, Akko, Israel, 1/07/19. https://doi.org/10.1109/MED.2019.8798498

Structural analysis of combined time and energy optimal trajectory planning with quadratic drag. / Taitler, Ayal; Ioslovich, Ilya; Karpas, Erez et al.
27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings. Institute of Electrical and Electronics Engineers, 2019. p. 153-158 8798498 (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Taitler A, Ioslovich I, Karpas E, Gutman PO, Ben-Asher JZ. Structural analysis of combined time and energy optimal trajectory planning with quadratic drag. In 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings. Institute of Electrical and Electronics Engineers. 2019. p. 153-158. 8798498. (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings). doi: 10.1109/MED.2019.8798498

Structural analysis of combined time and energy optimal trajectory planning with quadratic drag

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