IDEAS home Printed from https://ideas.repec.org/a/spr/coopap/v70y2018i1d10.1007_s10589-017-9978-6.html
   My bibliography  Save this article

Time-optimal velocity planning by a bound-tightening technique

Author

Listed:
  • Federico Cabassi

    (Università di Parma)

  • Luca Consolini

    (Università di Parma)

  • Marco Locatelli

    (Università di Parma)

Abstract

Range reduction techniques often considerably enhance the performance of algorithmic approaches for the solution of nonconvex problems. In this paper we propose a range reduction technique for a class of optimization problems with some special structured constraints. The procedure explores and updates the values associated to the nodes of a suitably defined graph. Convergence of the procedure and some efficiency issues, in particular related to the order into which the nodes of the graph are explored. The proposed technique is applied to solve problems arising from a relevant practical application, namely velocity planning along a given trajectory. The computational experiments show the efficiency of the procedure and its ability of returning solutions within times much lower than those of nonlinear solvers and compatible with real-time applications.

Suggested Citation

  • Federico Cabassi & Luca Consolini & Marco Locatelli, 2018. "Time-optimal velocity planning by a bound-tightening technique," Computational Optimization and Applications, Springer, vol. 70(1), pages 61-90, May.
    • Handle: RePEc:spr:coopap:v:70:y:2018:i:1:d:10.1007_s10589-017-9978-6
    DOI: 10.1007/s10589-017-9978-6
    as

    Download full text from publisher

    File URL: http://link.springer.com/10.1007/s10589-017-9978-6
    File Function: Abstract
    Download Restriction: Access to the full text of the articles in this series is restricted.
    File URL: https://libkey.io/10.1007/s10589-017-9978-6?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. Peiping Shen & Yuan Ma & Yongqiang Chen, 2011. "Global optimization for the generalized polynomial sum of ratios problem," Journal of Global Optimization, Springer, vol. 50(3), pages 439-455, July.
    2. Alberto Caprara & Marco Locatelli & Michele Monaci, 2016. "Theoretical and computational results about optimality-based domain reductions," Computational Optimization and Applications, Springer, vol. 64(2), pages 513-533, June.
    3. H. P. Benson, 2010. "Simplicial Branch-and-Reduce Algorithm for Convex Programs with a Multiplicative Constraint," Journal of Optimization Theory and Applications, Springer, vol. 145(2), pages 213-233, May.
    4. E. Velenis & P. Tsiotras, 2008. "Minimum-Time Travel for a Vehicle with Acceleration Limits: Theoretical Analysis and Receding-Horizon Implementation," Journal of Optimization Theory and Applications, Springer, vol. 138(2), pages 275-296, August.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Luca Consolini & Mattia Laurini & Marco Locatelli & Federico Cabassi, 2020. "Convergence Analysis of Spatial-Sampling-Based Algorithms for Time-Optimal Smooth Velocity Planning," Journal of Optimization Theory and Applications, Springer, vol. 184(3), pages 1083-1108, March.
    2. Luca Consolini & Mattia Laurini & Marco Locatelli, 2019. "Graph-based algorithms for the efficient solution of optimization problems involving monotone functions," Computational Optimization and Applications, Springer, vol. 73(1), pages 101-128, May.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Erjiang Sun, 2017. "On Optimization Over the Efficient Set of a Multiple Objective Linear Programming Problem," Journal of Optimization Theory and Applications, Springer, vol. 172(1), pages 236-246, January.
    2. Luca Consolini & Mattia Laurini & Marco Locatelli & Federico Cabassi, 2020. "Convergence Analysis of Spatial-Sampling-Based Algorithms for Time-Optimal Smooth Velocity Planning," Journal of Optimization Theory and Applications, Springer, vol. 184(3), pages 1083-1108, March.
    3. Tajbakhsh, Alireza & Hassini, Elkafi, 2018. "Evaluating sustainability performance in fossil-fuel power plants using a two-stage data envelopment analysis," Energy Economics, Elsevier, vol. 74(C), pages 154-178.
    4. YongJin Kim & YunChol Jong & JinWon Yu, 2021. "A parametric solution method for a generalized fractional programming problem," Indian Journal of Pure and Applied Mathematics, Springer, vol. 52(4), pages 971-989, December.
    5. Shen, Peiping & Zhu, Zeyi & Chen, Xiao, 2019. "A practicable contraction approach for the sum of the generalized polynomial ratios problem," European Journal of Operational Research, Elsevier, vol. 278(1), pages 36-48.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:spr:coopap:v:70:y:2018:i:1:d:10.1007_s10589-017-9978-6. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Sonal Shukla or Springer Nature Abstracting and Indexing (email available below). General contact details of provider: http://www.springer.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.