{"id":"https://openalex.org/W4200604998","doi":"https://doi.org/10.1109/tro.2021.3132799","title":"A Third-Order Constrained Approximate Time-Optimal Feedrate Planning Algorithm","display_name":"A Third-Order Constrained Approximate Time-Optimal Feedrate Planning Algorithm","publication_year":2021,"publication_date":"2021-12-30","ids":{"openalex":"https://openalex.org/W4200604998","doi":"https://doi.org/10.1109/tro.2021.3132799"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3132799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3132799","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100678361","display_name":"Mingli Wang","orcid":"https://orcid.org/0000-0001-8376-808X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingli Wang","raw_affiliation_strings":["Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8376-808X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009901395","display_name":"Juliang Xiao","orcid":"https://orcid.org/0000-0002-8221-8104"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juliang Xiao","raw_affiliation_strings":["Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-8221-8104","affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090096737","display_name":"Sijiang Liu","orcid":"https://orcid.org/0000-0003-3204-4051"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sijiang Liu","raw_affiliation_strings":["Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100413184","display_name":"Haitao Liu","orcid":"https://orcid.org/0000-0003-3873-1899"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Liu","raw_affiliation_strings":["Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-3873-1899","affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100678361"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":0.9713,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.76051802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"38","issue":"4","first_page":"2295","last_page":"2307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.619627058506012},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.5972824096679688},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5955403447151184},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5861941576004028},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5299735069274902},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5197063088417053},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5141084790229797},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4973318874835968},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45664945244789124},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4422624409198761},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.4157830476760864},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41429612040519714},{"id":"https://openalex.org/keywords/third-order","display_name":"Third order","score":0.4141135513782501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3914799988269806},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36962324380874634},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36832648515701294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15145078301429749},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09108173847198486},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08609655499458313}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.619627058506012},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.5972824096679688},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5955403447151184},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5861941576004028},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5299735069274902},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5197063088417053},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5141084790229797},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4973318874835968},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45664945244789124},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4422624409198761},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.4157830476760864},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41429612040519714},{"id":"https://openalex.org/C2777566824","wikidata":"https://www.wikidata.org/wiki/Q1259252","display_name":"Third order","level":2,"score":0.4141135513782501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3914799988269806},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36962324380874634},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36832648515701294},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15145078301429749},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09108173847198486},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08609655499458313},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2021.3132799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3132799","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5342750064","display_name":null,"funder_award_id":"51721003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6498076882","display_name":null,"funder_award_id":"52175025","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W9955790","https://openalex.org/W1838815852","https://openalex.org/W1971718676","https://openalex.org/W1980701644","https://openalex.org/W1985943247","https://openalex.org/W2026733661","https://openalex.org/W2030823549","https://openalex.org/W2034879964","https://openalex.org/W2067908705","https://openalex.org/W2068638097","https://openalex.org/W2072356173","https://openalex.org/W2076048129","https://openalex.org/W2091197916","https://openalex.org/W2115091574","https://openalex.org/W2128856036","https://openalex.org/W2143082915","https://openalex.org/W2152457645","https://openalex.org/W2240885390","https://openalex.org/W2283458923","https://openalex.org/W2418080962","https://openalex.org/W2530002552","https://openalex.org/W2793826897","https://openalex.org/W2796229232","https://openalex.org/W2952218925","https://openalex.org/W2963601107","https://openalex.org/W2986403712","https://openalex.org/W3004111187","https://openalex.org/W3101165498","https://openalex.org/W4237688380"],"related_works":["https://openalex.org/W2270398823","https://openalex.org/W2594587705","https://openalex.org/W2127925245","https://openalex.org/W4205539917","https://openalex.org/W2025862913","https://openalex.org/W2998618505","https://openalex.org/W3152646426","https://openalex.org/W2068915937","https://openalex.org/W2003070534","https://openalex.org/W3141716225"],"abstract_inverted_index":{"Robot":[0],"end-effector":[1,48],"tracking":[2],"of":[3,15,31,46,179,189],"a":[4,13],"specific":[5],"spatial":[6],"path":[7],"to":[8,35,40,181],"fulfill":[9],"certain":[10],"requirements":[11],"is":[12,74,99,144],"topic":[14],"great":[16],"interest.":[17],"First,":[18,111],"considering":[19,69,127,150],"both":[20],"dynamic":[21],"constraints":[22],"and":[23,139,155,167,187],"kinematic":[24],"constraints,":[25,72],"the":[26,44,47,53,65,70,103,114,121,151,164,183,190],"planned":[27,51],"velocity":[28,117,124],"has":[29],"characteristics":[30],"bounded":[32],"high-order":[33],"derivatives":[34],"ensure":[36],"smooth":[37],"motion.":[38],"Second,":[39],"meet":[41],"high-efficiency":[42],"requirements,":[43],"feedrate":[45,89],"should":[49],"be":[50],"within":[52],"best":[54],"possible":[55],"time.":[56],"Although":[57],"some":[58],"studies":[59],"have":[60],"shown":[61],"that":[62,93,134],"they":[63],"obtained":[64],"time-optimal":[66,88,116],"solution":[67],"by":[68],"second-order":[71,115,172],"this":[73,83],"still":[75],"an":[76,86,131],"open":[77],"problem":[78],"for":[79,147],"third-order":[80,95,122],"constraints.":[81,96,173],"Therefore,":[82],"article":[84],"proposes":[85],"approximate":[87],"(ATOF)":[90],"planning":[91,138],"algorithm":[92,98,133],"considers":[94],"This":[97],"primarily":[100],"based":[101],"on":[102],"bidirectional":[104],"scanning":[105],"method,":[106],"which":[107],"includes":[108,135],"two":[109,177],"steps.":[110],"we":[112,129,175],"calculate":[113],"(TOV2)":[118],"curve":[119,141],"under":[120,171],"maximum":[123],"curve.":[125],"Then,":[126],"TOV2,":[128],"propose":[130],"ATOF":[132,192],"single-direction":[136],"speed":[137,140],"smoothing.":[142],"It":[143],"more":[145],"practical":[146],"not":[148],"only":[149],"Coulomb":[152],"viscous":[153],"friction":[154],"torque":[156],"rate":[157],"but":[158],"also":[159],"avoiding":[160],"difficult":[161],"calculations":[162],"at":[163],"singular":[165],"point":[166],"solves":[168],"discontinuous":[169],"joint-acceleration":[170],"Finally,":[174],"design":[176],"sets":[178],"experiments":[180],"verify":[182],"higher":[184],"calculation":[185],"efficiency":[186],"effectiveness":[188],"proposed":[191],"algorithm.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}