Abstract
A minimum-time driving algorithm is obtained for two-dimensional curved path. The algorithm takes speed, acceleration and jerk as constraints. By taking jerk constraint, the acceleration time-derivative is limited and smooth driving is guaranteed. It is also found that the given path must possess G2 or higher continuity for applying jerk constraint. For a given set of speed, acceleration and jerk constraint, it is proved that the minimum driving time depends on path length, curvature and curvature′s path length derivative along path. The resultant driving pattern guarantees minimum-time smooth driving. This means high efficient and low stress moving on given path.
