Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm

The time optimal path parametrization problem addresses minimizing the traversal time of a specified path by an actuation constrained agent. Recently, an efficient numerical algorithm for solving this problem has been proposed. This letter theoretically establishes convergence of the former algorith...

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Veröffentlicht in:	IEEE control systems letters 2019-10, Vol.3 (4), p.835-840
Hauptverfasser:	Spasojevic, Igor, Murali, Varun, Karaman, Sertac
Format:	Artikel
Sprache:	eng
Schlagworte:	Acceleration Automobiles Convex functions Indexes Numerical algorithms optimal control robotics Robots Switches Upper bound
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description	The time optimal path parametrization problem addresses minimizing the traversal time of a specified path by an actuation constrained agent. Recently, an efficient numerical algorithm for solving this problem has been proposed. This letter theoretically establishes convergence of the former algorithm to the optimum for the whole class of problems solved optimally by computationally more demanding approaches based on convex programming. Additionally, we provide a characterization of the optimum, which may be of independent interest.
doi_str_mv	10.1109/LCSYS.2019.2919809
format	Article
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subjects	Acceleration Automobiles Convex functions Indexes Numerical algorithms optimal control robotics Robots Switches Upper bound
title	Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm
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