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Speed profile optimization for optimal path tracking | IEEE Conference Publication | IEEE Xplore

Speed profile optimization for optimal path tracking


Abstract:

In this paper, we study the problem of minimum-time, and minimum-energy speed profile optimization along a given path, which is a key step for solving the optimal path tr...Show More

Abstract:

In this paper, we study the problem of minimum-time, and minimum-energy speed profile optimization along a given path, which is a key step for solving the optimal path tracking problems for a particular class of dynamical systems. We focus on characterizing the optimal switching structure between extremal controls using optimal control theory, and present semi-analytical solutions to both problems. It is shown that the optimal solutions of these two problems are closely related.
Date of Conference: 17-19 June 2013
Date Added to IEEE Xplore: 15 August 2013
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Conference Location: Washington, DC, USA

References

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