Synchronization of the contrast bolus peak and CT imaging aperture is a crucial issue for computed tomography angiography (CTA). It affects the CTA image quality and the amount of contrast dose. A whole-body CTA procedure means to scan from the abdominal aorta to pedal arteries. In this context, the synchronization is much more difficult with the asymmetric arterial flow in lower extremities than in the case of symmetric arterial flow. In this paper, we propose an adaptive optimal controller to chase the contrast bolus peak while it propagates in the aorta and lower extremities with symmetric flow. In the case of asymmetric flow after the contrast bolus splitting into two lower limbs, we propose a dynamic programming approach to cover the lower limbs optimally. Simulation and experimental results show that the proposed methods outperform the current constant-speed method substantially.