相关论文: Half-Global Deadbeat Parking for Dubins Vehicle

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…

This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective…

We present a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative bearing angle (even if the target…

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…

This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…

We address the problem of controlling a stochastic version of a Dubins vehicle such that the probability of satisfying a temporal logic specification over a set of properties at the regions in a partitioned environment is maximized. We…

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…

The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…

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…

In this paper, model predictive control (MPC) strategies are proposed for dead-beat control of linear systems with and without state and control constraints. In unconstrained MPC, deadbeat performance can be guaranteed by setting the…

In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shortest path connecting given initial and final configurations…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

In this paper, we give a control approach to follow a trajectory for a Dubins car controlling the heading independently. The difficulty is that the Dubins car should have a heading corresponding to the argument of the vector speed of the…

The concept of Deadbeat Robust Model Predictive Control (DRMPC) is to completely extinguish the effect of external disturbances within the first few steps of the prediction horizon. The benefit is that the remaining dynamics of the system…

Parking is a critical pillar of driving safety. While recent end-to-end (E2E) approaches have achieved promising in-domain results, robustness under domain shifts (e.g., weather and lighting changes) remains a key challenge. Rather than…

The kinematic approximation of Dubin's Vehicle has been largely exploited in the formulation of various motion planning methods. In the majority of these methods, planning and control phases are decoupled, and the burden of rejecting…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

We present technical results justifying a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative…

When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…

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…