Name
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. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1016/j.sysconle.2017.02.001 | Systems & Control Letters |
Keywords | Field | DocType |
Optimization,Motion planning,Minimum-time problems,Hidden convexity | Motion planning,Discretization,Mathematical optimization,Algorithm,Acceleration,Curvilinear coordinates,Minimum time,Mathematics,Computational complexity theory | Journal |
Volume | ISSN | Citations |
103 | 0167-6911 | 10 |
PageRank | References | Authors |
0.68 | 6 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Luca Consolini | 1 | 276 | 31.16 |
| Marco Locatelli | 2 | 926 | 80.28 |
| Andrea Minari | 3 | 16 | 2.22 |
| Aurelio Piazzi | 4 | 132 | 19.44 |