相关论文: Min-Time Escape of a Dubins Car from a Polygon

We investigate the problem of finding paths that enable a robot modeled as a Dubins car (i.e., a constant-speed finite-turn-rate unicycle) to escape from a circular region of space in minimum time. This minimum-time escape problem arises in…

A turn-constrained evader strives to escape a circular region in minimum time.

This paper is concerned with characterizing the shortest path of a Dubins vehicle from a position with a prescribed heading angle to a target circle with the final heading tangential to the target circle. Such a shortest path is of…

The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with…

We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisfy the kinematic constraints. We assume that the distance…

This paper presents the problem of lateral interception by a Dubins car of a target that moves along an a priori known trajectory. This trajectory is given by two coordinates of a planar location and one angle of a heading orientation,…

A Differential Drive Robot (DDR) located inside a circular detection region in the plane wants to escape from it in minimum time. Various robotics applications can be modeled like the previous problem, such as a DDR escaping as soon as…

The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals.…

The Dubins path problem had enormous applications in path planning for autonomous vehicles. In this paper, we consider a generalization of the Dubins path planning problem, which is to find a shortest Dubins path that starts from a given…

In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…

In this study, we propose an algorithmic framework for solving a class of optimal control problems. This class is associated with the minimum-time interception of moving target problems, where a plant with a given state equation must…

To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…

A fundamental task in mobile robotics is keeping an intelligent agent under surveillance with an autonomous robot as it travels in the environment. This work studies a theoretical version of that problem involving one of the most popular…

This paper is concerned with a Minimum-Time Intercept Problem (MTIP), for which a Dubins vehicle is guided from a position with a prescribed initial orientation angle to intercept a moving target in minimum time. Some geometric properties…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

This paper presents a method of finding the shortest path for an unmanned aerial vehicle (UAV) flying from an initial point to a target line at a constant altitude. The length of a Dubins path is derived as a function of the final position…

The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…

A Dubins path is a shortest path with bounded curvature. The seminal result in non-holonomic motion planning is that (in the absence of obstacles) a Dubins path consists either from a circular arc followed by a segment followed by another…

In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the…

This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…