A computer readable medium causing a computer to planning of a trajectory for an object that is capable of controlled movement in one or more degrees of freedom. At least one ordered sequence of movement profiles is obtained. The at least one ordered sequence includes: (i) movement profiles that end with a phase of increasing acceleration and (ii) movement profiles that end with a phase of decreasing acceleration. The ordered sequence is evaluated to select a movement profile capable of achieving a desired state of movement. The trajectory of the object is planned based on the selected movement profile.

A computer-implemented method and controller are disclosed, for planning a trajectory for an object that is capable of controlled movement in one or more degrees of freedom. The method comprises obtaining (240) at least one ordered sequence of movement profiles. The at least one ordered sequence of movement profiles includes: (i) movement profiles that end with a phase of increasing acceleration and (ii) movement profiles that end with a phase of decreasing acceleration. The method comprises evaluating (250) the at least one ordered sequence of movement profiles to determine whether they can to achieve the target state of motion; selecting (260) a movement profile according to the result of the evaluating; and planning (270) the trajectory for the object based on the selected movement profile. Also disclosed is a method of planning a trajectory by obtaining a set of candidate profiles and solving a set of equations of motion for each candidate profile. Candidate profiles for which the solution is breaches motion constraints are eliminated. The correct profile(s) is (are) identified as the one(s) for which the solution does not breach any constraints.