2017 年 83 巻 3 号 p. 251-257
A minimum-time driving algorithm is obtained about the moving on a curved path in space. The algorithm takes velocity, acceleration and jerk as constraints. By imposing a jerk constraint, the acceleration time-derivative is limited and smooth driving is guaranteed. It is concluded that the moving object's dynamics must be analyzed directly by using curvature and torsion of the path. It is also found that the given path must possess G2 or higher continuity for applying a jerk constraint. For a given set of velocity, acceleration and jerk constraints, it is proved that the minimum driving time depends on path length, curvature, torsion and curvature's path length derivative along the path. The resultant driving pattern guarantees minimum-time smooth driving.
