PATH CONSTRAINED TIME-OPTIMAL TRAJECTORY PLANNING FOR X-Y ROBOTS VIA AN EFFICIENT DYNAMIC-PROGRAMMING METHOD

By exploiting an important property of the time optimal control law st ructure, this paper introduces a new dynamic programming approach for X-Y robot minimum time path following problem. Compared with the conve ntional dynamic programming method, the proposed approach significantl y reduces the computational cost. The efficiency and effectiveness of the proposed approach are demonstrated via computer simulations. In ad dition, via experimental studies, this paper also addresses practical difficulties in implementing the minimum-time control law.