DocumentCode
3550761
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
fYear
2005
fDate
8-10 June 2005
Firstpage
1478
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2005. Proceedings of the 2005
ISSN
0743-1619
Print_ISBN
0-7803-9098-9
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2005.1470174
Filename
1470174
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