Minimum-time speed optimisation over a fixed path

DOI10.1080/00207179.2013.875224zbMath1292.49035OpenAlexW2136209220MaRDI QIDQ5494539

Thomas Lipp, Stephen P. Boyd

Publication date: 28 July 2014

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2013.875224

zbMATH Keywords

convex optimizationinterior point methodembedded controlminimum-time trajectory generationoptimal speed control

Mathematics Subject Classification ID

Related Items (5)

LP-based velocity profile generation for robotic manipulators ⋮ Minimum-time velocity profile planning for planar motion considering velocity, acceleration and jerk constraints ⋮ A solution of the minimum-time speed planning problem based on lattice theory ⋮ Constrained reachability and trajectory generation for flat systems ⋮ Convergence analysis of spatial-sampling-based algorithms for time-optimal smooth velocity planning

Uses Software

• SeDuMi
• SDPT3

Cites Work

• Unnamed Item
• Unnamed Item
• Solving semidefinite-quadratic-linear programs using SDPT3
• Direct trajectory optimization and costate estimation of finite-horizon and infinite-horizon optimal control problems using a Radau pseudospectral method
• Symbolic-numeric indirect method for solving optimal control problems for large multibody systems
• Lossless convexification of a class of optimal control problems with non-convex control constraints
• Direct and indirect methods for trajectory optimization
• Real-time motion planning for multibody systems
• Interior point methods for optimal control of discrete time systems
• Interior-point methods
• Application of interior-point methods to model predictive control
• A primal-dual interior-point method for robust optimal control of linear discrete-time systems
• Algorithm 902
• ACADO toolkit-An open-source framework for automatic control and dynamic optimization
• Minimum-time control of robotic manipulators with geometric path constraints
• Direct Methods for Sparse Linear Systems
• Survey of Numerical Methods for Trajectory Optimization
• A Steepest-Ascent Method for Solving Optimum Programming Problems
• Kinodynamic motion planning
• Smooth and time-optimal trajectory planning for industrial manipulators along specified paths
• SDPT3 — A Matlab software package for semidefinite programming, Version 1.3
• Using SeDuMi 1.02, A Matlab toolbox for optimization over symmetric cones
• The pseudospectral Legendre method for discretizing optimal control problems
• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach

This page was built for publication: Minimum-time speed optimisation over a fixed path