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Minimum-Time Travel for a Vehicle with Acceleration Limits: Theoretical Analysis and Receding-Horizon Implementation

Author

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  • E. Velenis

    (Brunel University
    Georgia Institute of Technology)

  • P. Tsiotras

    (Georgia Institute of Technology)

Abstract

A methodology is proposed to generate minimum-time optimal velocity profiles for a vehicle with prescribed acceleration limits along a specified path. The necessary optimality conditions are explicitly derived, allowing the construction of the optimal solution semianalytically. A receding horizon implementation is also proposed for the on-line implementation of the velocity optimizer. Robustness of the receding horizon algorithm is guaranteed by the use of an adaptive scheme that determines the planning and execution horizons. Application to a real-life scenario with a comparison between the infinite and finite receding horizon schemes provides a validation of the proposed methodology.

Suggested Citation

  • 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.
    • Handle: RePEc:spr:joptap:v:138:y:2008:i:2:d:10.1007_s10957-008-9381-7
    DOI: 10.1007/s10957-008-9381-7
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    Citations

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    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. 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.

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