Jerk-limited Traversal of One-dimensional Paths and its Application to Multi-dimensional Path Tracking
Jonas C. Kiemel,Torsten Kröger,Jonas C. Kiemel,Torsten Kröger
In this paper, we present an iterative method to quickly traverse multi-dimensional paths considering jerk constraints. As a first step, we analyze the traversal of each individual path dimension. We derive a range of feasible target accelerations for each intermediate waypoint of a one-dimensional path using a binary search algorithm. Computing a trajectory from waypoint to waypoint leads to the ...
