Minimum-time trajectories for steered agent with constraints on speed, lateral acceleration, and turning rate

William Lewis Scott, Naomi Ehrich Leonard

Research output: Contribution to journalArticle

1 Scopus citations

Abstract

We present time-optimal trajectories for a steered agent with constraints on speed, lateral acceleration, and turning rate for the problem of reaching a point on the plane in minimum time with free terminal heading angle. Both open-loop and state-feedback forms of optimal controls are derived through application of Pontryagin's minimum principle. We apply our results for the single agent to solve a multi-agent coverage problem in which each agent has constraints on speed, lateral acceleration, and turning rate.

Original languageEnglish (US)
Article number071017
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume140
Issue number7
DOIs
StatePublished - Jul 2018

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

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