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Journal of Computer and Systems Sciences International

Erschienen in:

01.08.2022 | OPTIMAL CONTROL

Fastest Planar Motion Trajectories with Unlimited Curvature

verfasst von: A. S. Bortakovskii

Erschienen in: Journal of Computer and Systems Sciences International | Ausgabe 4/2022

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Abstract

The problem of speed is considered for a controlled dynamic system of the fifth order, which describes planar motion with limited acceleration. The motion trajectories of the proposed model differ from the Markov–Dubins paths, the trajectories of the Isaacs, Reeds–Shepp cars, etc., by their unlimited curvature, i.e., rotations (turning) on the spot are allowed. Such a model more accurately describes the capabilities of some types of road cars and aircraft. The angular velocity of the model changes continuously, thereby eliminating the jumps in angular velocity that are characteristic of the trajectories of the Dubins car and its generalizations. The optimal speed trajectories of the proposed model are described. Examples of the shortest trajectories that fall into the given terminal position (target) are given.

Vorheriger Artikel Bayesian Recognition of the State of the Information-Measuring System of a Moving Object: Study of the Algorithm for Correcting the Weight of A Priori Information

Nächster Artikel Spatiotemporal Control of Systems with Distributed Parameters in Linear-Quadratic Optimization Problems with Uniform Estimates of Target Sets

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Titel: Fastest Planar Motion Trajectories with Unlimited Curvature
verfasst von: A. S. Bortakovskii
Publikationsdatum: 01.08.2022
Verlag: Pleiades Publishing
Erschienen in: Journal of Computer and Systems Sciences International / Ausgabe 4/2022
Print ISSN: 1064-2307
Elektronische ISSN: 1555-6530
DOI: https://doi.org/10.1134/S1064230722040037

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