SCTOMP: Spatially Constrained Time-Optimal Motion Planning
Jon Arrizabalaga,Markus Ryll,Jon Arrizabalaga,Markus Ryll
This work focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows a system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the assumption of a given collision-free geometric reference. Instead, we present a three-stage motion planning method that solely relies on start and goal locations and ...
