The purpose of this work is to introduce and characterize the Bounded Acceleration Shortest Path (BASP) problem, a generalization of the Shortest Path (SP) problem. This problem is associated to a graph: nodes represent positions of a mobile vehicle and arcs are associated to pre-assigned geometric paths that connect these positions. BASP consists in finding the minimum-time path between two nodes. Differently from SP, we require that the vehicle satisfy bounds on maximum and minimum acceleration and speed, that depend on the vehicle position on the currently traveled arc. We propose solution algorithms that achieves polynomial time-complexity under some additional hypotheses on problem data.

Efficient solution algorithms for the Bounded Acceleration Shortest Path problem / Ardizzoni, S.; Consolini, L.; Laurini, M.; Locatelli, M.. - STAMPA. - 2021-:(2021), pp. 5729-5734. (Intervento presentato al convegno 60th IEEE Conference on Decision and Control, CDC 2021 tenutosi a usa nel 2021) [10.1109/CDC45484.2021.9683191].

Efficient solution algorithms for the Bounded Acceleration Shortest Path problem

Ardizzoni S.;Consolini L.;Laurini M.;Locatelli M.
2021-01-01

Abstract

The purpose of this work is to introduce and characterize the Bounded Acceleration Shortest Path (BASP) problem, a generalization of the Shortest Path (SP) problem. This problem is associated to a graph: nodes represent positions of a mobile vehicle and arcs are associated to pre-assigned geometric paths that connect these positions. BASP consists in finding the minimum-time path between two nodes. Differently from SP, we require that the vehicle satisfy bounds on maximum and minimum acceleration and speed, that depend on the vehicle position on the currently traveled arc. We propose solution algorithms that achieves polynomial time-complexity under some additional hypotheses on problem data.
2021
978-1-6654-3659-5
Efficient solution algorithms for the Bounded Acceleration Shortest Path problem / Ardizzoni, S.; Consolini, L.; Laurini, M.; Locatelli, M.. - STAMPA. - 2021-:(2021), pp. 5729-5734. (Intervento presentato al convegno 60th IEEE Conference on Decision and Control, CDC 2021 tenutosi a usa nel 2021) [10.1109/CDC45484.2021.9683191].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/2923008
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