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

William Lewis Scott; Naomi Ehrich Leonard

doi:10.1115/DSCC2016-9892

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 proceeding › Conference contribution

1 Scopus citations

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 language	English (US)
Title of host publication	Mechatronics; 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
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791850701
DOIs	https://doi.org/10.1115/DSCC2016-9892
State	Published - 2016
Event	ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States Duration: Oct 12 2016 → Oct 14 2016

Publication series

Name	ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Volume	2

Other

Other	ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Country/Territory	United States
City	Minneapolis
Period	10/12/16 → 10/14/16

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Industrial and Manufacturing Engineering
Mechanical Engineering

Access to Document

10.1115/DSCC2016-9892

Cite this

Scott, W. L., & Leonard, N. E. (2016). Time-optimal trajectories for steered agent with constraints on speed and turning rate. In Mechatronics; 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 (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; Vol. 2). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2016-9892

Scott, William Lewis ; Leonard, Naomi Ehrich. / Time-optimal trajectories for steered agent with constraints on speed and turning rate. Mechatronics; 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. American Society of Mechanical Engineers, 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016).

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title = "Time-optimal trajectories for steered agent with constraints on speed and turning rate",

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.",

author = "Scott, {William Lewis} and Leonard, {Naomi Ehrich}",

note = "Publisher Copyright: Copyright {\textcopyright} 2016 by ASME.; ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 ; Conference date: 12-10-2016 Through 14-10-2016",

year = "2016",

doi = "10.1115/DSCC2016-9892",

language = "English (US)",

series = "ASME 2016 Dynamic Systems and Control Conference, DSCC 2016",

publisher = "American Society of Mechanical Engineers",

booktitle = "Mechatronics; 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",

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Scott, WL & Leonard, NE 2016, Time-optimal trajectories for steered agent with constraints on speed and turning rate. in Mechatronics; 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. ASME 2016 Dynamic Systems and Control Conference, DSCC 2016, vol. 2, American Society of Mechanical Engineers, ASME 2016 Dynamic Systems and Control Conference, DSCC 2016, Minneapolis, United States, 10/12/16. https://doi.org/10.1115/DSCC2016-9892

Time-optimal trajectories for steered agent with constraints on speed and turning rate. / Scott, William Lewis; Leonard, Naomi Ehrich.
Mechatronics; 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. American Society of Mechanical Engineers, 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Scott, William Lewis

AU - Leonard, Naomi Ehrich

PY - 2016

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AB - 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.

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T3 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016

BT - Mechatronics; 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

PB - American Society of Mechanical Engineers

T2 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016

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Scott WL, Leonard NE. Time-optimal trajectories for steered agent with constraints on speed and turning rate. In Mechatronics; 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. American Society of Mechanical Engineers. 2016. (ASME 2016 Dynamic Systems and Control Conference, DSCC 2016). doi: 10.1115/DSCC2016-9892

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

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