TY - JOUR
T1 - Minimum-time trajectories for steered agent with constraints on speed, lateral acceleration, and turning rate
AU - Scott, William Lewis
AU - Leonard, Naomi Ehrich
N1 - Funding Information:
• Directorate for Engineering NSF grant (Grant No. ECCS-1135724).
Funding Information:
Directorate for Engineering NSF grant (Grant No. ECCS-1135724).
Publisher Copyright:
Copyright © 2018 by ASME.
PY - 2018/7
Y1 - 2018/7
N2 - 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.
AB - 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.
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U2 - 10.1115/1.4039283
DO - 10.1115/1.4039283
M3 - Article
AN - SCOPUS:85046172052
SN - 0022-0434
VL - 140
JO - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
IS - 7
M1 - 071017
ER -