2013 Poster Sessions : Fixed Trajectory Speed Optimization

Student Name : Thomas Lipp
Advisor : Stephen Boyd
Research Areas: Information Systems
Minimum time trajectories have applications in fields as varied as machine path design, surveillance, and automated racing. In our research we focus on a subclass of these problems where the path is predetermined, but the speed along the path must be optimized subject to the dynamics of the vehicle and environmental constraints of the path. We present a model for representing these problems and an algorithm to solve them that leverages the research in convex optimization to find feasible speed profiles that are guaranteed to be globally optimal. The algorithm exploits the structure of the problem to find solutions on a timescale that allows for implementation in real time.

Thomas Lipp is a 3rd year Ph.D. candidate in Mechanical Engineering and received his B.S.E. in Mechanical and Aerospace engineering from Princeton University in 2008. He is co-advised by professors Stephen Boyd and J. Christian Gerdes. His research interests include trajectory generation and model predictive control.