Generation of “optimal” speed profile for motion planning
Fabien Gravot, Yutaka Hirano, Shintaro Yoshizawa · 2007
This paper presents how to compute "optimal" speed profile on a path that can be made by a path planner. "Optimality" is defined as the minimization of the trajectory total time under constraints on any number of its derivatives (speed, acceleration, jerk, ...). Then the resulting trajectory can be used in real system to have precise control over it.