Nearly time-optimal paths for a ground vehicle
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چکیده
منابع مشابه
Nearly Time-optimal Paths for a Ground Vehicle
It is well known that the sufficient family of time-optimal paths for both Dubins’ as well as Reeds-Shepp’s car models consist of the concatenation of circular arcs with maximum curvature and straight line segments, all tangentially connected. These time-optimal solutions suffer from some drawbacks. Their discontinuous curvature profile, together with the wear and impairment on the control equi...
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. . . . . . . . . . 1 . INTRODUCTION . . . . . . . . 2 . CONDITIONS FOR TIME OPTIMAL PATHS 3 . TIME OPTIMAL PATHS . . . . . . 4 . EXPERIMENTAL R.ESULTS . . . . . 5 . CONCLUSIONS . . . . . . . . . REFERENCES . . . . . . . . . . APPENDIX . . . . . . . . . . . . . . . . . . . v . . . . . . . . 1 . . . . . . . . 3 . . . . . . . . 9 . . . . . . . . 21 . . . . . . . . 27 . . . . . . . . 29 . . . . . ...
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ژورنال
عنوان ژورنال: Journal of Control Theory and Applications
سال: 2003
ISSN: 1672-6340,1993-0623
DOI: 10.1007/s11768-003-0002-6