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...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: | https://hdl.handle.net/1721.1/126543 |
| Summary: | 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. |
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