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

页码：50 / 57

页数：8

共 21 条

[11]

Guarino Lo Bianco C, 2004, 2004 IEEE INTELLIGENT VEHICLES SYMPOSIUM, P413

[12] TOWARD EFFICIENT TRAJECTORY PLANNING - THE PATH-VELOCITY DECOMPOSITION [J].