Time optimal paths for high speed maneuvering [electronic resource].

Published:: Washington, D.C. : United States. Dept. of Energy, 1993.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
Physical Description:: Pages: (38 pages) : digital, PDF file
Additional Creators:: Oak Ridge National Laboratory, United States. Department of Energy, and United States. Department of Energy. Office of Scientific and Technical Information

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Summary:

Recent theoretical results have completely solved the problem of determining the minimum length path for a vehicle with a minimum turning radius moving from an initial configuration to a final configuration. Time optimal paths for a constant speed vehicle are a subset of the minimum length paths. This paper uses the Pontryagin maximum principle to find time optimal paths for a constant speed vehicle. The time optimal paths consist of sequences of axes of circles and straight lines. The maximum principle introduces concepts (dual variables, bang-bang solutions, singular solutions, and transversality conditions) that provide important insight into the nature of the time optimal paths. We explore the properties of the optimal paths and present some experimental results for a mobile robot following an optimal path.

Report Numbers:

E 1.99:ornl/tm-12289
ornl/tm-12289

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Note:

Published through SciTech Connect.
01/01/1993.
"ornl/tm-12289"
"DE93006251"
Reister, D.B.; Lenhart, S.M.

Funding Information:

AC05-84OR21400

View MARC record | catkey: 14112966