The Numerical Control Design for a Pair of Dubins Vehicles

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dc.creatorTjahjana, Heru
dc.creatorPranoto, Iwan
dc.creatorMuhammad, Hari
dc.creatorNaiborhu, J.
dc.creatorMiswanto
dc.date2008-04-30
dc.date.accessioned2026-07-07T09:36:01Z
dc.date.available2026-07-07T09:36:01Z
dc.descriptionIn 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.
dc.descriptionUploaded by ICIUS2007 Conference Organizer on behalf of the author(s). 3 pages, 2 figures
dc.identifierhttps://arxiv.org/abs/0804.4750
dc.identifierhttp://arxiv.org/abs/0804.4750
dc.identifierProceedings of the International Conference on Intelligent Unmanned System (ICIUS 2007), Bali, Indonesia, October 24-25, 2007, Paper No. ICIUS2007-C003
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/160027
dc.subjectRobotics
dc.subjectI.2.8
dc.titleThe Numerical Control Design for a Pair of Dubins Vehicles
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