Abstract
This paper is concerned with trajectory generation of vehicles taking into account the vehicle’s dynamics and the actuators’ constraints in voltages and currents. Motion generation is formulated as an optimisation problem with a mixed energy-time objective function. Usual kinematics constraints are not sufficiently representative of the reality, thus we focus on more realistic constraints: on the acceleration, the jerk, the maximum power which can be transferred to the road and voltage and current DC actuator constraints.
