Optimal Synthesis in the Reeds and Shepp Problem with Onesided Variation of Velocity |
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| Authors: | A V Dmitruk I A Samylovskiy |
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| Institution: | 1. Central Economics and Mathematics Institute of the Russian Academy of Sciences, Nakhimovskii prospekt, 47, 117418, Moscow, Russia
2. Faculty of Computational Mathematics and Cybernetics, Lomonosov Moscow State University, Leninskiye Gory, MSU, 119899, Moscow, Russia
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| Abstract: | We consider a time-optimal problem for the Reeds and Shepp model describing a moving point on a plane, with a onesided variation of the speed and a free final direction of the velocity. Using the Pontryagin Maximum Principle, we obtain all possible types of extremal and, analyzing them and discarding nonoptimal ones, construct the optimal synthesis. |
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