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Minimum-time trajectories for steered agent with constraints on speed, lateral acceleration, and turning rate

Author(s): Scott, WL; Leonard, Naomi E

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dc.contributor.authorScott, WL-
dc.contributor.authorLeonard, Naomi E-
dc.date.accessioned2021-10-08T20:20:00Z-
dc.date.available2021-10-08T20:20:00Z-
dc.date.issued2018en_US
dc.identifier.citationScott, WL, Leonard, NE. (2018). Minimum-time trajectories for steered agent with constraints on speed, lateral acceleration, and turning rate. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 140 (10.1115/1.4039283en_US
dc.identifier.urihttp://arks.princeton.edu/ark:/88435/pr1sp1n-
dc.description.abstractWe present time-optimal trajectories for a steered agent with constraints on speed, lateral acceleration, and turning rate for the problem of reaching a point on the plane in minimum time with free terminal heading angle. Both open-loop and state-feedback forms of optimal controls are derived through application of Pontryagin's minimum principle. We apply our results for the single agent to solve a multi-agent coverage problem in which each agent has constraints on speed, lateral acceleration, and turning rate.en_US
dc.language.isoen_USen_US
dc.relation.ispartofJournal of Dynamic Systems, Measurement and Control, Transactions of the ASMEen_US
dc.rightsFinal published version. This is an open access article.en_US
dc.titleMinimum-time trajectories for steered agent with constraints on speed, lateral acceleration, and turning rateen_US
dc.typeJournal Articleen_US
dc.identifier.doidoi:10.1115/1.4039283-
pu.type.symplectichttp://www.symplectic.co.uk/publications/atom-terms/1.0/journal-articleen_US

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