Title :
A modified dubins problem with partially restricted terminal conditions
Author :
Akhil, G. ; Ratnoo, A. ; Ghose, Debasish
Author_Institution :
Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India
Abstract :
In this paper, a useful generalization of the Dubins method which aids lateral interception of a moving object by another object is presented. The classical Dubins approach is modified to suit this application and the corresponding path length equations are derived. Capturability conditions are obtained and supporting simulation results are presented.
Keywords :
mobile robots; position control; remotely operated vehicles; time optimal control; autonomous vehicles; capturability conditions; modified Dubins problem; nonholonomic vehicle; partially restricted terminal conditions; path length equations; time-optimal path; Acceleration; Aerospace engineering; Control systems; Equations; Geometry; Turning; Vehicles;
Conference_Titel :
Control Applications (CCA), 2013 IEEE International Conference on
Conference_Location :
Hyderabad
DOI :
10.1109/CCA.2013.6662861
