Explicit Time-Optimal Speed Profiles for Planar Paths with Monotone Curvature
Systems and Control
2023-05-23 v2 Systems and Control
Optimization and Control
Abstract
Minimum-time speed profiles are constructed for planar paths with smooth strictly-monotonic signed curvature, subject to constraints on velocity, normal acceleration and tangential acceleration. The construction is explicit and exact, and global optimality is rigorously established from first principles under mild regularity conditions on the path. Free, fixed, and inequality-constrained boundary speeds are all accommodated. Numerical implementation is straightforward.
Cite
@article{arxiv.2208.12135,
title = {Explicit Time-Optimal Speed Profiles for Planar Paths with Monotone Curvature},
author = {Daniel Selvaratnam and Michael Cantoni and Chris Manzie},
journal= {arXiv preprint arXiv:2208.12135},
year = {2023}
}
Comments
Currently under review for publication