Abstract: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 onedimensional path using a binary search algorithm. Computing a trajectory from waypoint to waypoint leads to the fastest progress on the path when selecting the highest feasible target acceleration. Similarly, it is possible to c… Show more
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