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Minimum-time speed optimisation over a fixed path

机译:固定路径上的最短时间速度优化

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In this paper we investigate the problem of optimising the speed of a vehicle over a fixed path for minimum time traversal. We utilise a change of variables that has been known since the 1980s, although the resulting convexity of the problem was not noted until recently. The contributions of this paper are three fold. First, we extend the convexification of the problem to a more general framework. Second, we identify a wide range of vehicle models and constraints which can be included in this expanded framework. Third, we develop and implement an algorithm that allows these problems to be solved in real time, on embedded systems, with a high degree of accuracy.
机译:在本文中,我们研究了优化车辆在固定路径上的速度以最小化时间穿越的问题。我们利用自1980年代以来已知的变量变化,尽管直到最近才注意到问题的凸性。本文的贡献是三方面的。首先,我们将问题的凸性扩展到更一般的框架。其次,我们确定了可以包含在此扩展框架中的各种车辆模型和约束。第三,我们开发并实现了一种算法,该算法可以在嵌入式系统上实时,高精度地解决这些问题。

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