Is time-optimal speed planning under jerk constraints a convex problem?

DOI10.1016/j.automatica.2024.111864zbMATH Open1548.49058MaRDI QIDQ6605997

Luca Consolini, Marco Locatelli

Publication date: 16 September 2024

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

optimizationconvex relaxationshidden convexityspeed planningindustrial applications of optimal control

Mathematics Subject Classification ID

Nonconvex programming, global optimization (90C26) Methods involving semicontinuity and convergence; relaxation (49J45) Variational principles of physics (49S05)

Cites Work

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• Minimum-time travel for a vehicle with acceleration limits: Theoretical analysis and receding-horizon implementation
• Second-order cone programming
• Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles
• Time-optimal velocity planning by a bound-tightening technique
• An optimal complexity algorithm for minimum-time velocity planning
• Minimum-time control of robotic manipulators with geometric path constraints

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