An optimal complexity algorithm for minimum-time velocity planning

被引：29
|
作者：
Consolini, Luca [1 ]
Locatelli, Marco [1 ]
Minari, Andrea [1 ]
Piazzi, Aurelio [1 ]
机构：
[1] Univ Parma, Dipartimento Ingn Informaz, Parco Area Sci 181-A, I-43124 Parma, Italy
来源：
SYSTEMS & CONTROL LETTERS | 2017年 / 103卷
关键词：
Optimization; Motion planning; Minimum-time problems; Hidden convexity; PATH GENERATION; SMOOTH PATH;
D O I：
10.1016/j.sysconle.2017.02.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Velocity planning on a path to be followed by a wheeled autonomous vehicle may be difficult when high curvatures and velocities are allowed. A fast, straightforward algorithm to address this problem is presented. It has linear-time computational complexity and provides an optimal minimum-time velocity profile. The algorithm is based on a curvilinear discretization that makes easy to take into account the constraint on the vehicle's maximal normal acceleration. A generalized problem is also addressed with formal results on feasibility, complexity, and solution characterization. Three examples illustrate the proposed approach. (C) 2017 Elsevier B.V. All rights reserved.
引用
收藏
页码：50 / 57
页数：8
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