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.
An optimal complexity algorithm for minimum-time velocity planning / Consolini, Luca; Locatelli, Marco; Minari, Andrea; Piazzi, Aurelio. - In: SYSTEMS & CONTROL LETTERS. - ISSN 0167-6911. - 103:(2017), pp. 50-57. [10.1016/j.sysconle.2017.02.001]
An optimal complexity algorithm for minimum-time velocity planning
CONSOLINI, Luca;LOCATELLI, Marco;MINARI, ANDREA;PIAZZI, Aurelio
2017-01-01
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.