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Optimization-Based Path-Velocity Control for Time-Optimal Path Tracking under Uncertainties

Jia, Zheng LU orcid ; Karayiannidis, Yiannis LU orcid and Olofsson, Björn LU (2025)
Abstract
This paper addresses the path-tracking problem of time-optimal trajectories under model uncertainties, by proposing a real-time predictive scaling algorithm. The algorithm is formulated as a convex optimization problem, designed to balance the trade-off between improving feasibility and time optimality of a trajectory. The predicted trajectory is scaled based on the presence of path segments that are particularly sensitive to model uncertainties within the prediction horizon. Numerical simulations and experiments demonstrate that the proposed scaling algorithm reduces the path traversal time, while preserving similar path-tracking accuracy compared to an existing non-predictive method.
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author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)
project
RobotLab LTH
ELLIIT B14: Autonomous Force-Aware Swift Motion Control
language
English
LU publication?
yes
id
55325fc2-317a-4b0e-ade0-94266672c833
date added to LUP
2025-12-10 13:59:23
date last changed
2025-12-15 11:21:28
@inproceedings{55325fc2-317a-4b0e-ade0-94266672c833,
  abstract     = {{This paper addresses the path-tracking problem of time-optimal trajectories under model uncertainties, by proposing a real-time predictive scaling algorithm. The algorithm is formulated as a convex optimization problem, designed to balance the trade-off between improving feasibility and time optimality of a trajectory. The predicted trajectory is scaled based on the presence of path segments that are particularly sensitive to model uncertainties within the prediction horizon. Numerical simulations and experiments demonstrate that the proposed scaling algorithm reduces the path traversal time, while preserving similar path-tracking accuracy compared to an existing non-predictive method.}},
  author       = {{Jia, Zheng and Karayiannidis, Yiannis and Olofsson, Björn}},
  booktitle    = {{2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)}},
  language     = {{eng}},
  title        = {{Optimization-Based Path-Velocity Control for Time-Optimal Path Tracking under Uncertainties}},
  url          = {{https://lup.lub.lu.se/search/files/235444650/Optimization_Based_Path_Velocity_Control_for_Time_Optimal_Path_Tracking_under_Uncertainties-14.pdf}},
  year         = {{2025}},
}