Title :
Time-optimal synthesis for the Zermelo-Markov-Dubins problem: The constant wind case
Author :
Bakolas, E. ; Tsiotras, P.
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fDate :
June 30 2010-July 2 2010
Abstract :
We consider a combination of the classical Markov-Dubins problem and Zermelo´s navigation problem. In particular, we consider the problem of characterizing minimum-time paths with prescribed positions and tangents for a vehicle with Dubins-type kinematics in the presence of uniform winds/currents. By utilizing optimal control theory, we characterize the structure of the optimal paths, and subsequently solve the time-optimal synthesis problem.
Keywords :
Markov processes; control system synthesis; kinematics; navigation; time optimal control; vehicle dynamics; Dubins-type kinematics; Markov-Dubins problem; Zermelo navigation problem; minimum-time path; optimal control; time-optimal synthesis; Aerospace engineering; Controllability; Kinematics; Level set; Marine vehicles; Motion planning; Optimal control; Rivers; Upper bound; Wind speed;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531602
