Optimal velocity profile generation for given acceleration limits: receding horizon implementation

We present a semi-analytical method to generate the optimal velocity profile for a vehicle traveling along a prescribed path in minimum time, given a maximum acceleration limit. A receding horizon implementation is proposed for the on-line implementation of the velocity optimizer. Robustness of the receding horizon algorithm is guaranteed by the use of a dynamic scheme that determines the planning and execution horizons. Application to a real-life scenario provides a validation of the proposed methodology. A comparison between the infinite and finite receding horizon schemes is also presented.