Time Optimal Trajectory Planning of Elevating Fire Truck Based on Convex Optimization

doi:10.3901/JME.2019.06.138

Abstract

Abstract: In order to improve the timeliness, reliability and security of elevating fire truck, a time optimal trajectory planning algorithm is proposed, considering the stability and non-impact of motions. Pseudo-displacement s is introduced, to fit discrete points of joints motion and construct continuous geometric path with B-spline. A convex optimization model is established, which is based on the continuous path, time optimal objective function that is formulated with s and its derivatives of time, as well as joint velocity and acceleration constraints. B-spline is utilized to parameterize trajectories with finite-dimensional vector x, and interior point method is used to solvethe convex optimization model, to get optimal trajectories of joints, while guaranteeing that velocities, accelerations and jerks are continuous. The proposed algorithm is simulated on a high elevating fire truck, and the results demonstrate that time optimal trajectory is obtained while the stability of motion is satisfied.

Key words: B-spline, convex optimization, elevating fire truck, time optimal, trajectory planning

CLC Number:

TH218

TENG Rumin, LI Yuxin, WANG Xin, ZHAO Zhe. Time Optimal Trajectory Planning of Elevating Fire Truck Based on Convex Optimization[J]. Journal of Mechanical Engineering, 2019, 55(6): 138-144.

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