Time-optimal trajectories for steered agent with constraints on speed and turning rate

William Lewis Scott, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Through application of Pontryagin's maximum principle we derive minimum-time optimal trajectories for a "steered particle" agent with constraints on speed and turning rate to reach a point on the plane with free terminal heading. We also present a formulation of the optimal trajectories in the form of a state-feedback control law that is applicable to real time motion planning on a robotic system with these motion constraints.

Original languageEnglish (US)
Title of host publicationMechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791850701
DOIs
StatePublished - 2016
EventASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States
Duration: Oct 12 2016Oct 14 2016

Publication series

NameASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Volume2

Other

OtherASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Country/TerritoryUnited States
CityMinneapolis
Period10/12/1610/14/16

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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