论文标题
具有单调曲率的平面路径的显式时间速度曲线
Explicit Time-Optimal Speed Profiles for Planar Paths with Monotone Curvature
论文作者
论文摘要
为具有平滑的严格单调签名曲率的平面路径构建最小时间速度曲线，受到速度，正常加速度和切向加速度的限制。该构建是明确和精确的，并且在路径上的轻度规律条件下，全球最优性是从第一原则中严格建立的。自由，固定和不等式受限的边界速度均可容纳。数值实现很简单。
Minimum-time speed profiles are constructed for planar paths with smooth strictly-monotonic signed curvature, subject to constraints on velocity, normal acceleration and tangential acceleration. The construction is explicit and exact, and global optimality is rigorously established from first principles under mild regularity conditions on the path. Free, fixed, and inequality-constrained boundary speeds are all accommodated. Numerical implementation is straightforward.
