Time_Allocation

Time Allocation

initial Time Allocation

Average time allocation

Time_i = length_i / average_speed

Trapezoidal time allocation

Average speed invariant method

• When the average speed remains the same, let the speed gradually increase at the starting point and gradually decrease at the end point to allocate time.
• The total time will be longer

Time invariant method

• When the total time remains the same, let the speed gradually increase at the starting point and gradually decrease at the end point to allocate time.
• The total time will remain the same

optimization

gradient descent