Optimal synthesis in the Reeds and Shepp problem with a onesided variation of velocity
Andrey Dmitruk (avdmicemi.rssi.ru)
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 )
Entry Submitted: 05/23/2012
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