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.
Volume Subject Area:Path Planning and Motion Control
Topics:Particulate matter, Path planning, Robotics, State feedback, Turning
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