How fast is the point moving? Using calculus, its velocity, , is defined as the derivative of with respect to time:
|
(8.1) |
Using numerical computations, is approximately equal to
, in which denotes a small change in time and
|
(8.2) |
In other words, is the change in from the start to the end of the time change. The velocity can be used to estimate the change in over as
|
(8.3) |
The approximation quality improves as becomes smaller and itself varies less during the time from to
.
We can write to indicate that velocity may change over time. The position can be calculated for any time from the velocity using integration as8.1
|
(8.4) |
which assumes that was known at the starting time . If is constant for all time, represented as , then
. The integral in (8.4) accounts for being allowed to vary.
Steven M LaValle
2020-11-11