Minimum-time travel for a vehicle with acceleration limits: Theoretical analysis and receding-horizon implementation

Journal of Optimization Theory and Applications

Volumn 138, Issue 2, 2008, Pages 275-296

  Velenis, E ^a,b   Tsiotras, P ^b  

^a BRUNEL UNIVERSITY   (United Kingdom)

^b Georgia Institute of Technology   (United States)

Author keywords

Acceleration limits; Minimum time velocity profile; Receding horizon

Indexed keywords

ACCELERATION LIMITS; MINIMUM TIME; MINIMUM TIME VELOCITY PROFILE; NECESSARY OPTIMALITY CONDITION; OPTIMAL SOLUTIONS; OPTIMAL VELOCITY; RECEDING HORIZON; TIME TRAVEL; TIME-OPTIMAL; VELOCITY PROFILES;

EID: 46249100418     PISSN: 00223239     EISSN: 15732878     Source Type: Journal    
DOI: 10.1007/s10957-008-9381-7     Document Type: Article

References (15)

1. Hendrikx, J., Meijlink, T., Kriens, R.: Application of optimal control theory to inverse simulation of car handling. Veh. Syst. Dyn. 26, 449-461 (1996)
2. Casanova, D., Sharp, R.S., Symonds, P.: Minimum time maneuvering: the significance of Yaw inertia. Veh. Syst. Dyn. 34, 77-115 (2000)
3. Casanova, D., Sharp, R.S., Symonds, P.: On minimum time optimisation of formula one cars: the influence of vehicle mass. In: Proceedings of AVEC 2000. Ann-Arbor, MI, August 22-24, 2000
4. Velenis, E., Tsiotras, P.: Minimum time vs. maximum exit velocity path optimization during cornering. In: 2005 IEEE International Symposium on Industrial Electronics, Dubrovnic, Croatia, pp. 355-360, June 2005
5. Spenko, M.: Hazard avoidance for high-speed Rough-Terrain unmanned ground vehicles. Ph.D. Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology (2005)
6. Metz, D., Williams, D.: Near time-optimal control of racing vehicles. Automatica 25(6), 841-857 (1989)
7. Gadola, M., Vetturi, D., Cambiaghi, D., Manzo, L.: A tool for lap time simulation. In: Proceedings of SAE Motorsport Engineering Conference and Exposition, Dearborn, MI (1996)
8. Lepetic, M., Klancar, G., Skrjanc, I., Matko, D., Potocnic, B.: Time optimal path planning considering acceleration limits. Robot. Auton. Syst. 45, 199-210 (2003)
9. Bobrow, J., Dubowsky, S., Gibson, J.: On the optimal control of robotic manipulators with actuator constraints. In: Proceedings of the American Control Conference, San Francisco, CA, pp. 782-787, June 1983
10. Bobrow, J., Dubowsky, S., Gibson, J.: Time-optimal control of robotic manipulators along specified paths. Int. J. Robot. Res. 4(3), 3-17 (1985)
11. Shin, K., McKay, N.: Minimum-time control of robotic manipulators with geometric path constraints. IEEE Trans. Automat. Contr. 30(6), 531-541 (1985)
12. Anonymous: Inertial and GPS measurement system. Report from Silverstone F1 Test, Technical Report, Oxford Technical Solutions, Oxfordshire, UK (2002)
13. Schouwenaars, T., De Moor, B., Feron, E., How, J.: Mixed integer programming for multi-vehicle path planning. In: Proceedings of the 2001 European Control Conference, Porto, Portugal, pp. 2603-2608, September 2001
14. Bellingham, J., Richards, A., How, J.: Receding horizon control of autonomous aerial vehicles. In: Proceedings of the American Control Conference, Anchorage, AK, pp. 3741-3746, May 8-10, 2002
15. Schouwenaars, T., Feron, E., How, J.: Safe receding horizon path planning for autonomous vehicles. In: Proceedings of the 40th Allerton Conference on Communication, Control and Computing, Monticello, IL, October 2002