Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles
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Publication:1678602
DOI10.1016/j.automatica.2017.08.020zbMath1375.93035MaRDI QIDQ1678602
Enrico Bertolazzi, Luigi Palopoli, Francesco Biral, Daniele Fontanelli, Marco Frego
Publication date: 17 November 2017
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.automatica.2017.08.020
optimal control; splines; nonlinear systems; time-optimal control; path planning; trajectory planning; efficient algorithms; autonomous vehicles; Riccati differential equations; velocity saturation
49N90: Applications of optimal control and differential games
93C10: Nonlinear systems in control theory
93B27: Geometric methods
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Uses Software
Cites Work
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