Speed Profile Optimization for Optimal Path Tracking
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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.