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


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2013-07

AUTHORS

A. V. Dmitruk, I. A. Samylovskiy

ABSTRACT

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.

PAGES

309-325

References to SciGraph publications

  • 1998-04. Non-Euclidean Dubins' Problem in JOURNAL OF DYNAMICAL AND CONTROL SYSTEMS
  • 2006. An Efficient Method to Find a Shortest Path for a Car-Like Robot in INTELLIGENT CONTROL AND AUTOMATION
  • 2009-09. From Dubins’ car to Reeds and Shepp’s mobile robot in COMPUTING AND VISUALIZATION IN SCIENCE
  • 2003-11. Nearly time-optimal paths for a ground vehicle in JOURNAL OF CONTROL THEORY AND APPLICATIONS
  • 2010-08. Optimal-control approach to trajectory planning for a class of mobile robotic manipulations in JOURNAL OF ENGINEERING MATHEMATICS
  • 2005-12. Dubins’ problem on surfaces. I. nonnegative curvature in THE JOURNAL OF GEOMETRIC ANALYSIS
  • 1994-03. Shortest paths of bounded curvature in the plane in JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/s10883-013-9180-9

    DOI

    http://dx.doi.org/10.1007/s10883-013-9180-9

    DIMENSIONS

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