Time-Optimal Boundary Value Problem

An interactive demo for time-optimal trajectory optimization with different dynamic limits, boundary conditions, weights, and preview feasibility.

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Dynamic Limits

Applied for dynamic feasibility checks and boundary diagnostics.
Applied for dynamic feasibility checks and boundary diagnostics.

Boundary Conditions

Start position p₀ Range: (-2, -2, -2) → (2, 2, 2)
Start velocity v₀ Range: (-1.5, -1.5, -1.5) → (1.5, 1.5, 1.5)
Start acceleration a₀ Range: (-2, -2, -2) → (2, 2, 2)
End position p₁ Range: (-2, -2, -2) → (2, 2, 2)
End velocity v₁ Range: (-1.5, -1.5, -1.5) → (1.5, 1.5, 1.5)
End acceleration a₁ Range: (-2, -2, -2) → (2, 2, 2)

Insights

Feasibility Snapshot

Press "Run Simulation" to evaluate.

Optimal Duration

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Max Velocity

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Max Acceleration

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Trajectories (multi-view)

Color ∝ speed
0 → 0 m/s

Oblique NE

Top-down XY

Front XZ

Side YZ

Chosen State Profiles

X-axis

Position · X

Velocity · X

Acceleration · X

Y-axis

Position · Y

Velocity · Y

Acceleration · Y

Z-axis

Position · Z

Velocity · Z

Acceleration · Z

Boundary Diagnostics

Cost Components