6533b7d6fe1ef96bd1267129
RESEARCH PRODUCT
A solution of the minimum-time velocity planning problem based on lattice theory
Marco LocatelliAndrea MinariMattia LauriniLuca Consolinisubject
0303 health sciences0209 industrial biotechnologyComputer Networks and CommunicationsApplied MathematicsMinimum timeFeasible region02 engineering and technologyKinematicsInfimum and supremum03 medical and health sciences020901 industrial engineering & automationControl and Systems EngineeringOptimization and Control (math.OC)Lattice (order)Ordinary differential equationSignal ProcessingFOS: MathematicsApplied mathematicsMathematics - Optimization and Control030304 developmental biologyMathematicsdescription
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.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2018-09-06 |