A solution of the minimum-time speed planning problem based on lattice theory. Issue 12 (August 2020)

• Record Type: Journal Article
• Authors: Consolini, Luca; Laurini, Mattia; Locatelli, Marco; Minari, Andrea
• Is Part Of: Journal of the Franklin Institute. Volume 357:Issue 12(2020)
• Page Start: 7617
• Page End: 7637
• Publication Date: 2020-08
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2020.05.024
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: For a vehicle on an assigned path, we find the minimum-time speed law that satisfies kinematic and dynamic constraints, related to maximum speed and maximum tangential and transversal acceleration. We present a necessary and sufficient condition for the feasibility of the problem and a simple operator, based on the solution of two ordinary differential equations, which computes the optimal solution. Theoretically, we show that the problem feasible set, if not empty, is a lattice, whose supremum element corresponds to the optimal solution.