Pure pursuit navigation on Riemannian manifolds |
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Authors: | B Bidabad M Rafie-Rad |
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Institution: | Faculty of Mathematics and Computer Sciences, Amirkabir University of Technology (Tehran Polytechnic), Hafez Ave., 15914 Tehran, Iran |
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Abstract: | Here, the Pure Pursuit navigation on Riemannian manifolds is studied and the time optimal trajectories of this process are found. It has been shown that these trajectories are geodesics of a non-Randers type Finsler metric, known in the literature as Matsumoto metric. A geometrical approach to kinematics in control theory is illustrated and the inverse problem is formulated. |
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