The Numerical Control Design for a Pair of Dubins Vehicles

Thumbnail Image

Date

Authors

Journal Title

Journal ISSN

Volume Title

Publisher

Abstract

Description

In this paper, a model of a pair of Dubins vehicles is considered. The vehicles move from an initial position and orientation to final position and orientation. A long the motion, the two vehicles are not allowed to collide however the two vehicles cant to far each other. The optimal control of the vehicle is found using the Pontryagins Maximum Principle (PMP). This PMP leads to a Hamiltonian system consisting of a system of differential equation and its adjoint. The originally differential equation has initial and final condition but the adjoint system doesn't have one. The classical difficulty is solved numerically by the greatest gradient descent method. Some simulation results are presented in this paper.
Uploaded by ICIUS2007 Conference Organizer on behalf of the author(s). 3 pages, 2 figures

Keywords

Robotics, I.2.8

Citation

URI

http://salesiana.dossiersoluciones.com/handle/123456789/160027

Consulte el texto completo en el siguiente enlace:

https://arxiv.org/abs/0804.4750
 http://arxiv.org/abs/0804.4750
 Proceedings of the International Conference on Intelligent Unmanned System (ICIUS 2007), Bali, Indonesia, October 24-25, 2007, Paper No. ICIUS2007-C003

Collections

arXiv