DocumentCode
643047
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
fYear
2013
fDate
28-30 Aug. 2013
Firstpage
877
Lastpage
882
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications (CCA), 2013 IEEE International Conference on
Conference_Location
Hyderabad
ISSN
1085-1992
Type
conf
DOI
10.1109/CCA.2013.6662861
Filename
6662861
Link To Document