Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles

@article{Frego2017SemianalyticalMT,
  title={Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles},
  author={Marco Frego and Enrico Bertolazzi and Francesco Biral and Daniele Fontanelli and Luigi Palopoli},
  journal={Automatica},
  year={2017},
  volume={86},
  pages={18-28}
}
We consider the problem of finding an optimal manoeuvre that moves a car-like vehicle between two configurations in minimum time. We propose a two phase algorithm in which a path that joins the two points is first found by solving a geometric optimisation problem, and then the optimal manoeuvre is identified considering the system dynamics and its constraints. We make the assumption that the path is composed of a sequence of clothoids. This choice is justified by theoretical arguments… CONTINUE READING

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