TR2013-051

Speed Profile Optimization for Optimal Path Tracking

    •  Zhao, Y., Tsiotras, P., "Speed Profile Optimization for Optimal Path Tracking", American Control Conference (ACC), June 2013, pp. 1171-1176.
      BibTeX TR2013-051 PDF
      • @inproceedings{Zhao2013jun1,
      • author = {Zhao, Y. and Tsiotras, P.},
      • title = {Speed Profile Optimization for Optimal Path Tracking},
      • booktitle = {American Control Conference (ACC)},
      • year = 2013,
      • pages = {1171--1176},
      • month = jun,
      • issn = {0743-1619},
      • isbn = {978-1-4799-0177-7},
      • url = {https://www.merl.com/publications/TR2013-051}
      • }
  • Research Area:

    Control

Abstract:

In this paper, we study the problem of minimumtime, and minimum-energy speed profile optimization along a given path, which is a key step for solving the optimal path tracking problems for a particular class of dynamical systems. We focus on characterizing the optimal switching structure between extremal controls using optimal control theory, and present semi-analytical solutions to both problems. It is shown that the optimal solutions of these two problems are closely related.

 

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