An optimal complexity algorithm for minimum-time velocity planning

被引：32
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
相关论文
共 21 条
[1]  
Bartels R.H., 1995, An Introduction to Splines for Use in Computer Graphics and Geometric Modeling
[2]  
Chen C, 2014, IEEE INT CONF ROBOT, P6108, DOI 10.1109/ICRA.2014.6907759
[3]  
Consolini L, 2016, MED C CONTR AUTOMAT, P490, DOI 10.1109/MED.2016.7536010
[4]  
Davey B.A., 2002, Introduction to Lattices and Order
[5]  
ERTRAC, 2015, ERTRAC AUT DRIV ROAD
[6]  
Eskandarian A, 2012, HANDBOOK OF INTELLIGENT VEHICLES, VOLS 1 AND 2, P1, DOI 10.1007/978-0-85729-085-4
[7]   From Reeds and Shepp's to continuous-curvature paths [J].
Fraichard, T ;
Scheuer, A .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (06) :1025-1035
[8]  
Fraichard T, 2012, HANDBOOK OF INTELLIGENT VEHICLES, VOLS 1 AND 2, P1433, DOI 10.1007/978-0-85729-085-4_55
[9]   Path Generation Using η4-Splines for a Truck and Trailer Vehicle [J].
Ghilardelli, Fabio ;
Lini, Gabriele ;
Piazzi, Aurelio .
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2014, 11 (01) :187-203
[10]  
Gravot Fabien, 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, P4071, DOI 10.1109/IROS.2007.4398973
123