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Optimal synthesis in the Reeds and Shepp problem with a onesided variation of velocity

Andrey Dmitruk (avdmi***at***cemi.rssi.ru)
Ivan Samylovskiy (barbudo.sam***at***cs.msu.su)

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

Keywords: Time-optimal problem, Pontryagin Maximum Principle, extremals, reachability sets, optimal synthesis.

Category 1: Applications -- Science and Engineering (Control Applications )

Category 2: Applications -- Science and Engineering (Mechanical Engineering )

Citation: http://link.springer.com/article/10.1007/s10957-013-0286-8


Entry Submitted: 05/23/2012
Entry Accepted: 05/23/2012
Entry Last Modified: 03/05/2013

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