Minimum-Time Travel for a Vehicle with Acceleration Limits: Theoretical Analysis and Receding-Horizon Implementation

E. Velenis () and P. Tsiotras ()
Additional contact information
E. Velenis: Brunel University
P. Tsiotras: Georgia Institute of Technology

Journal of Optimization Theory and Applications, 2008, vol. 138, issue 2, No 9, 275-296

Abstract: Abstract A methodology is proposed to generate minimum-time optimal velocity profiles for a vehicle with prescribed acceleration limits along a specified path. The necessary optimality conditions are explicitly derived, allowing the construction of the optimal solution semianalytically. A receding horizon implementation is also proposed for the on-line implementation of the velocity optimizer. Robustness of the receding horizon algorithm is guaranteed by the use of an adaptive scheme that determines the planning and execution horizons. Application to a real-life scenario with a comparison between the infinite and finite receding horizon schemes provides a validation of the proposed methodology.

Keywords: Minimum time velocity profile; Acceleration limits; Receding horizon (search for similar items in EconPapers)
Date: 2008
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

Downloads: (external link)
http://link.springer.com/10.1007/s10957-008-9381-7 Abstract (text/html)
Access to the full text of the articles in this series is restricted.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:joptap:v:138:y:2008:i:2:d:10.1007_s10957-008-9381-7

Ordering information: This journal article can be ordered from
http://www.springer. ... cs/journal/10957/PS2

DOI: 10.1007/s10957-008-9381-7

Access Statistics for this article

Journal of Optimization Theory and Applications is currently edited by Franco Giannessi and David G. Hull

More articles in Journal of Optimization Theory and Applications from Springer
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().