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

[+] Author and Article Information
William Scott

Postdoctoral Associate, Member of ASME, Department of Aerospace Engineering, Institute for Systems Research, University of Maryland, College Park, Maryland 20742

Naomi Leonard

Professor, Fellow of ASME, Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, New Jersey 08544

1Corresponding author.

ASME doi:10.1115/1.4039283 History: Received November 14, 2016; Revised January 25, 2018


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.

Copyright (c) 2018 by ASME
Topics: State feedback
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