The Numerical Control Design for a Pair of Dubins Vehicles

Details The Numerical Control Design for a Pair of Dubins Vehicles The Numerical Control Design for a Pair of Dubins Vehicles

2008-04-30

arxiv.org/abs/0804.4750v1

Proceedings of the International Conference on Intelligent Unmanned System (ICIUS 2007), Bali, Indonesia, October 24-25, 2007,

Computer Science

Robotics

Uploaded by ICIUS2007 Conference Organizer on behalf of the author(s). 3 pages, 2 figures

Scientific paper

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.

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