Minimum-time constrained velocity planning

This paper proposes a method for minimum-time velocity planning with velocity, acceleration and jerk constraints and generic initial and final boundary conditions for the velocity and the acceleration. This minimum-time planning problem is relevant in the context of robotic autonomous navigation, where the iterative steering supervisor periodically replans the future mobile robot motion starting from current position, velocity and acceleration conditions. The problem is faced through discretization and its solution is based on a sequence of linear programming feasibility checks, depending on motion constraints and boundary conditions.