This article addresses the problem of optimally controlling trajectories of autonomous mobile agents (e.g., robots) so as to jointly minimize travel time and energy consumption in the presence of multiple spatio-temporal constraints on these trajectories. In addition to state and input constraints, we impose spatial equality and temporal inequality constraints viewed as interior-point constraints. We address this problem by first identifying the structure of the optimal agent controllable acceleration profile and showing that it is characterized by several parameters subsequently used for trajectory design optimization. Therefore, the infinite dimensional optimal control problem is transformed into a finite dimensional parametric optimization problem. The proposed algorithm is applied to the eco-driving problem of autonomous vehicles approaching multiple signalized intersections. We include simulation results to show quantitatively the advantages of the proposed solution.

中文翻译：

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时空约束的自主智能体的轨迹优化

本文解决了优化控制自主移动代理（例如机器人）的轨迹的问题，以便在这些轨迹上存在多个时空约束的情况下共同最小化旅行时间和能源消耗。除了状态和输入约束之外，我们还施加了被视为内部点约束的空间相等和时间不平等约束。我们通过首先确定最佳代理可控加速度分布图的结构并显示它的特征在于随后用于轨迹设计优化的几个参数来解决这个问题。因此，将无限维最优控制问题转化为有限维参数优化问题。该算法适用于接近多个信号交叉口的自动驾驶汽车的生态驾驶问题。我们包括仿真结果以定量显示所提出解决方案的优势。