For a vehicle on an assigned path, we find the minimum-time speed law that satisfies kinematic and dynamic constraints, related to maximum speed and maximum tangential and transversal acceleration. We present a necessary and sufficient condition for the feasibility of the problem and a simple operator, based on the solution of two ordinary differential equations, which computes the optimal solution. Theoretically, we show that the problem feasible set, if not empty, is a lattice, whose supremum element corresponds to the optimal solution.
A solution of the minimum-time speed planning problem based on lattice theory / Consolini, L.; Laurini, M.; Locatelli, M.; Minari, A.. - In: JOURNAL OF THE FRANKLIN INSTITUTE. - ISSN 0016-0032. - (2020). [10.1016/j.jfranklin.2020.05.024]
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