The Bounded Acceleration Shortest Path problem: complexity and solution algorithms
Data Structures and Algorithms
2024-04-10 v1 Systems and Control
Systems and Control
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: the nodes represent positions of a mobile vehicle and the 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 prove that BASP is NP-hard and define solution algorithm that achieves polynomial time-complexity under some additional hypotheses on problem data.
Cite
@article{arxiv.2103.02914,
title = {The Bounded Acceleration Shortest Path problem: complexity and solution algorithms},
author = {Stefano Ardizzoni and Luca Consolini and Mattia Laurini and Marco Locatelli},
journal= {arXiv preprint arXiv:2103.02914},
year = {2024}
}
Comments
39 pages