Time Optimal Trajectory Planning of Elevating Fire Truck Based on Convex Optimization
TENG Rumin, Yu-xin Li, Xin Wang, ZHAO Zhe · Journal of Mechanical Engineering · 2019
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：elevating fire truck；trajectory planning；time optimal；convex optimization；B-spline