Optimal feedback control for route tracking with a bounded-curvature vehicle

We consider the kinematic model of a vehicle moving forward with a lower bounded turning radius. This model can be used to describe the kinematics of road vehicles as well as aircraft cruising at constant altitude, or sea vessels. We consider the problem of minimizing the length travelled by the vehicle starting from a generic configuration to connect to a specified route. A feedback law is proposed, such that straight routes can be approached optimally, while system is asymptotically stabilized. Experimental results are reported showing real-time feasibility of the approach