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A solution of the minimum-time velocity planning problem based on lattice theory
- Source :
- Journal of the Franklin Institute 357(12):7617-7637, 2020
- Publication Year :
- 2018
-
Abstract
- For a vehicle on an assigned path, we find the minimum-time speed law that satisfies kinematic and dynamic constraints, related to maximum speed and maximum tangential and transversal acceleration. We present a necessary and sufficient condition for the feasibility of the problem and a simple operator, based on the solution of two ordinary differential equations, which computes the optimal solution. Theoretically, we show that the problem feasible set, if not empty, is a lattice, whose supremum element corresponds to the optimal solution.<br />Comment: 14 pages, 7 figures
- Subjects :
- Mathematics - Optimization and Control
Subjects
Details
- Database :
- arXiv
- Journal :
- Journal of the Franklin Institute 357(12):7617-7637, 2020
- Publication Type :
- Report
- Accession number :
- edsarx.1809.01959
- Document Type :
- Working Paper
- Full Text :
- https://doi.org/10.1016/j.jfranklin.2020.05.024