Name
Title | ||
|---|---|---|
Convergence Analysis of Spatial-Sampling-Based Algorithms for Time-Optimal Smooth Velocity Planning. |
Abstract | ||
|---|---|---|
For a vehicle on an assigned path, we consider the problem of finding the time-optimal speed law that satisfies kinematic and dynamic constraints, related to maximum speed and maximum tangential and transversal acceleration. We show that the problem can be solved with an arbitrarily high precision by performing a finite element lengthwise path discretization and using a quadratic spline for interpolation. In particular, we show that an $$\epsilon $$-optimal solution can be found in a time which is a polynomial function of $$\epsilon ^{-1}$$, more precisely its eighth power. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1007/s10957-019-01626-4 | Journal of Optimization Theory and Applications |
Keywords | Field | DocType |
Convergence analysis, Velocity planning, Convex optimization, 49M25, 90C25, 65K05 | Spline (mathematics),Discretization,Kinematics,Polynomial,Mathematical analysis,Interpolation,Finite element method,Acceleration,Convex optimization,Mathematics | Journal |
Volume | Issue | ISSN |
184 | 3 | 0022-3239 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Luca Consolini | 1 | 276 | 31.16 |
| Mattia Laurini | 2 | 3 | 2.77 |
| Marco Locatelli | 3 | 926 | 80.28 |
| Federico Cabassi | 4 | 0 | 0.34 |