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research-article

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
wlscott@umd.edu

Naomi Leonard

Professor, Fellow of ASME, Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, New Jersey 08544
naomi@princeton.edu

1Corresponding author.

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

Abstract

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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