In order to perform a cyclic task, I need a trajectory planning algorithm. This trajectory should minimize jerk and jounce.
When I search for trajectory planning algorithms, I get many different options, but I haven't found one which satisfies my requirements in terms of which values I can specify. An extra complicating factor is that the algorithm should be used online in a system without too much computing power, so mpc algorithms are not possible...
The trajectory I am planning is 2D, but this can be stripped down to 2 trajectories of 1 dimention each. There are no obstacles in the field, just bounds on the field itself (minimum and maximum values for x and y)
Values that I should be able to specify:
- Total time needed (it should reach its destination at this specific time)
- Starting and end position
- Starting and end velocity
- Starting and end acceleration
- Maximum values for the position.
Ideally, I would also be able to specify the bounds for the velocity, acceleration, jerk and jounce, but I am comfortable with just generating the trajectory, and then checking if those values are exceeded.
Which algorithm can do that?
So far I have used fifth order polynomials, and checking for limits on velocity, acceleration, jerk and jounce afterwards, but I cannot set the maximum values for the position, and that is a problem...
Thank you in advance!