Title:
Speed Profile Optimization for Optimal Path Tracking
Speed Profile Optimization for Optimal Path Tracking
Author(s)
Zhao, Yiming
Tsiotras, Panagiotis
Tsiotras, Panagiotis
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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.
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Date Issued
2013-06
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Text
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Post-print