Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles

DOI10.1016/j.automatica.2017.08.020zbMath1375.93035OpenAlexW2752444998MaRDI QIDQ1678602

Enrico Bertolazzi, Luigi Palopoli, Francesco Biral, Daniele Fontanelli, Marco Frego

Publication date: 17 November 2017

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2017.08.020

zbMATH Keywords

optimal controlsplinesnonlinear systemstime-optimal controlpath planningtrajectory planningefficient algorithmsautonomous vehiclesRiccati differential equationsvelocity saturation

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Nonlinear systems in control theory (93C10) Geometric methods (93B27)

Related Items (10)

Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles ⋮ A solution of the minimum-time speed planning problem based on lattice theory ⋮ Time-optimal velocity planning by a bound-tightening technique ⋮ Point data reconstruction and smoothing using cubic splines and clusterization ⋮ Efficient intersection between splines of clothoids ⋮ On the \(G^2\) Hermite interpolation problem with clothoids ⋮ Convergence analysis of spatial-sampling-based algorithms for time-optimal smooth velocity planning ⋮ Point-Clothoid Distance and Projection Computation ⋮ Closed form parametrisation of 3D clothoids by arclength with both linear varying curvature and torsion ⋮ Minimum mixed time-energy trajectory planning of a nonlinear vehicle subject to 2D disturbances

Uses Software

• GPOPS
• Algorithm 954

Cites Work

• Minimum-time travel for a vehicle with acceleration limits: Theoretical analysis and receding-horizon implementation
• Second-order analysis for optimal control problems with pure state constraints and mixed control-state constraints
• Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles
• New necessary conditions of optimality for control problems with state- variable inequality constraints
• On minimum-time paths of bounded curvature with position-dependent constraints
• Algorithm 954
• Bang-bang optimal control for differentially flat systems using mapped pseudospectral method and analytic homotopic approach
• Optimal control of Formula One car energy recovery systems
• Semianalytical minimum-time solution for the optimal control of a vehicle subject to limited acceleration
• Minimum-time control of robotic manipulators with geometric path constraints
• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents
• G¹ fitting with clothoids
• GPOPS-II

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