DocumentCode :
3550868
Title :
Optimal velocity profile generation for given acceleration limits: receding horizon implementation
Author :
Velenis, Efstathios ; Tsiotras, Panagiotis
Author_Institution :
Sch. of Aerosp. Eng., Georgia State Univ., Atlanta, GA, USA
fYear :
2005
fDate :
8-10 June 2005
Firstpage :
2147
Abstract :
We present a semi-analytical method to generate the optimal velocity profile for a vehicle traveling along a prescribed path in minimum time, given a maximum acceleration limit. A receding horizon implementation is proposed for the on-line implementation of the velocity optimizer. Robustness of the receding horizon algorithm is guaranteed by the use of a dynamic scheme that determines the planning and execution horizons. Application to a real-life scenario provides a validation of the proposed methodology. A comparison between the infinite and finite receding horizon schemes is also presented.
Keywords :
automobiles; control system synthesis; infinite horizon; robust control; vehicle dynamics; acceleration limits; dynamic scheme; execution horizons; finite receding horizon schemes; infinite receding horizon schemes; online implementation; optimal velocity profile generation; planning horizons; receding horizon implementation; robustness; semi-analytical method; velocity optimizer; Acceleration; Aerodynamics; Computational efficiency; Land vehicles; Mobile robots; Path planning; Remotely operated vehicles; Robustness; Trajectory; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
ISSN :
0743-1619
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2005.1470288
Filename :
1470288
Link To Document :
بازگشت