Min-Time Escape of a Dubins Car from a Polygon
Systems and Control
2024-10-03 v1 Systems and Control
Abstract
A turn constrained vehicle is initially located inside a polygon region and desires to escape in minimum time. First, the method of characteristics is used to describe the time-optimal strategies for reaching a line of infinite length. Next, the approach is extended to polygons constructed of a series of line segments. Using this construction technique, the min-time path to reach each edge is obtained; the resulting minimum of the set of optimal trajectories is then selected for escaping the polygon.
Cite
@article{arxiv.2410.01589,
title = {Min-Time Escape of a Dubins Car from a Polygon},
author = {Isaac E. Weintraub and Alexander Von Moll and David Casbeer and Satyanarayana G Manyam and Meir Pachter and Colin Taylor},
journal= {arXiv preprint arXiv:2410.01589},
year = {2024}
}
Comments
7 Pages, 6 Figures, Submitted to IFAC ACC, DISTRIBUTION STATEMENT A. Approved for public release. Distribution is unlimited; AFRL-2024-5262. This work is funded in-part by AFOSR, LRIR 24RQCOR002