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 - Jan 1 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
CountryUnited 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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    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