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A methodology is proposed to generate minimum-time optimal velocity profiles for a vehicle with prescribed acceleration limits
along a specified path. The necessary optimality conditions are explicitly derived, allowing the construction of the optimal
solution semianalytically. A receding horizon implementation is also proposed for the on-line implementation of the velocity
optimizer. Robustness of the receding horizon algorithm is guaranteed by the use of an adaptive scheme that determines the
planning and execution horizons. Application to a real-life scenario with a comparison between the infinite and finite receding
horizon schemes provides a validation of the proposed methodology.
This work has been supported in part by the US Army Research Office, Awards DAAD19-00-1-0473 and W911NF-05-1-0331. The authors
thank an anonymous reviewer for his insightful comments regarding the results in Sect. 5. 相似文献
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In this paper, we consider the problem of obtaining optimal controllers which minimize a quadratic cost function for the rotational motion of a rigid body. We are not concerned with the attitude of the body and consider only the evolution of the angular velocity as described by the Euler equations. We obtain conditions which guarantee the existence of linear stabilizing optimal and suboptimal controllers. These controllers have a very simple structure. 相似文献
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In this paper, a generalized information-theoretic framework for the emergence of multi-resolution hierarchical tree abstractions is developed. By leveraging ideas from information-theoretic signal encoding with side information, this paper develops a tree search problem which considers the generation of multi-resolution tree abstractions when there are multiple sources of relevant and irrelevant, or possibly confidential, information. We rigorously formulate an information-theoretic driven tree abstraction problem and discuss its connections with information-theoretic privacy and resource-limited systems. The problem structure is investigated and a novel algorithm, called G-tree search, is proposed. The proposed algorithm is analyzed and a number of theoretical results are established, including the optimally of the G-tree search algorithm. To demonstrate the utility of the proposed framework, we apply our method to a real-world example and provide a discussion of the results from the viewpoint of designing hierarchical abstractions for autonomous systems. 相似文献
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Efstathios Bakolas Panagiotis Tsiotras 《Journal of Optimization Theory and Applications》2011,150(2):233-250
We consider a variation of the classical Markov–Dubins problem dealing with curvature-constrained, shortest paths in the plane
with prescribed initial and terminal positions and tangents, when the lower and upper bounds of the curvature of the path
are not necessarily equal. The motivation for this problem stems from vehicle navigation applications, when a vehicle may
be biased in taking turns at a particular direction due to hardware failures or environmental conditions. After formulating
the shortest path problem as a minimum-time problem, a family of extremals, which is sufficient for optimality, is characterized,
and subsequently the complete analytic solution of the optimal synthesis problem is presented. In addition, the synthesis
problem, when the terminal tangent is free, is also considered, leading to the characterization of the set of points that
can be reached in the plane by curves satisfying asymmetric curvature constraints. 相似文献
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Efstathios Bakolas Panagiotis Tsiotras 《Journal of Optimization Theory and Applications》2013,156(2):469-492
We consider the optimal synthesis of the Zermelo–Markov–Dubins problem, that is, the problem of steering a vehicle with the kinematics of the Isaacs–Dubins car in minimum time in the presence of a drift field. By using standard optimal control tools, we characterize the family of control sequences that are sufficient for complete controllability and necessary for optimality for the special case of a constant field. Furthermore, we present a semianalytic scheme for the characterization of an optimal synthesis of the minimum-time problem. Finally, we establish a direct correspondence between the optimal syntheses of the Markov–Dubins and the Zermelo–Markov–Dubins problems by means of a discontinuous mapping. 相似文献
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