Title:
Speed Profile Optimization for Optimal Path Tracking
Speed Profile Optimization for Optimal Path Tracking
dc.contributor.author | Zhao, Yiming | |
dc.contributor.author | Tsiotras, Panagiotis | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | en_US |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
dc.contributor.corporatename | Mitsubishi Electric Research Laboratories | |
dc.date.accessioned | 2014-02-27T18:45:09Z | |
dc.date.available | 2014-02-27T18:45:09Z | |
dc.date.issued | 2013-06 | |
dc.description | ©2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
dc.description | Presented at the 2013 American Control Conference (ACC 2013), 17-19 June 2013, Washington, D.C. | |
dc.description.abstract | In this paper, we study the problem of minimum- time, and minimum-energy speed profile optimization along a given path, which is a key step for solving the optimal path tracking problems for a particular class of dynamical systems. We focus on characterizing the optimal switching structure between extremal controls using optimal control theory, and present semi-analytical solutions to both problems. It is shown that the optimal solutions of these two problems are closely related. | en_US |
dc.embargo.terms | null | en_US |
dc.identifier.citation | Zhao, Y., and Tsiotras, P., "Speed Profile Optimization for Optimal Path Tracking'' American Control Conference (ACC 2013), 17-19 June 2013, pp.1171-1176. | en_US |
dc.identifier.isbn | 978-1-4799-0177-7 | |
dc.identifier.issn | 0743-1619 | |
dc.identifier.uri | http://hdl.handle.net/1853/51303 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | Institute of Electrical and Electronics Engineers | |
dc.subject | Minimum energy | en_US |
dc.subject | Minimum time | en_US |
dc.subject | Optimal control | en_US |
dc.subject | Path tracking | en_US |
dc.title | Speed Profile Optimization for Optimal Path Tracking | en_US |
dc.type | Text | |
dc.type.genre | Post-print | |
dspace.entity.type | Publication | |
local.contributor.author | Tsiotras, Panagiotis | |
local.contributor.corporatename | Unmanned Aerial Vehicle Research Facility | |
relation.isAuthorOfPublication | bd4969ec-a869-452f-81f1-9f2dc8118b3c | |
relation.isOrgUnitOfPublication | 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1 |
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