Title :
Optimal velocity profile generation for given acceleration limits: theoretical analysis
Author :
Velenis, Efstathios ; Tsiotras, Panagiotis
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
A semi-analytical method is proposed to generate minimum-time optimal velocity profiles for a vehicle with given acceleration limits driving along a specified path. The method is formally proven to provide optimal results using optimal control theory. In addition, several undesirable cases, where loss of controllability occurs, and which have been neglected in the literature, are dealt with in this work.
Keywords :
controllability; optimal control; road vehicles; velocity control; acceleration limits; controllability; minimum-time optimal velocity profiles; optimal control theory; optimal velocity profile generation; semi-analytical method; vehicles; Acceleration; Boundary conditions; Computational efficiency; Controllability; Land vehicles; Optimal control; Remotely operated vehicles; Trajectory; Vehicle driving; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470174
