Optimal synthesis in the Reeds and Shepp problem with a free final direction

Optimal synthesis in the Reeds and Shepp problem with a free final direction

We consider a time-optimal problem for the Reeds and Shepp model describing a moving point on a plane, with a free final direction of velocity. Using Pontryagin maximum principle, we obtain all types of extremals and, analyzing them and discarding nonoptimal ones, construct the optimal synthesis.

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Veröffentlicht in:Journal of dynamical and control systems 2013-07, Vol.19 (3), p.309-325
Hauptverfasser: Dmitruk, A. V., Samylovskiy, I. A.
Format: Artikel
Sprache:eng
Schlagworte:
Calculus of Variations and Optimal Control
Optimization
Construction
Control
Control systems
Dynamical Systems
Dynamical Systems and Ergodic Theory
Mathematical models
Mathematics
Mathematics and Statistics
Maximum principle
Optimization
Planes
Reeds
Synthesis
Systems Theory
Vibration
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Beschreibung
Zusammenfassung:We consider a time-optimal problem for the Reeds and Shepp model describing a moving point on a plane, with a free final direction of velocity. Using Pontryagin maximum principle, we obtain all types of extremals and, analyzing them and discarding nonoptimal ones, construct the optimal synthesis.
ISSN:1079-2724
1573-8698
DOI:10.1007/s10883-013-9180-9