Time-optimal synthesis for the Zermelo-Markov-Dubins problem: The constant wind case

Proceedings of the 2010 American Control Conference, ACC 2010

Volumn , Issue , 2010, Pages 6163-6168

  Bakolas, Efstathios ^a   Tsiotras, Panagiotis ^a  

^a Georgia Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL ENGINEERING;

MINIMUM TIME; NAVIGATION PROBLEM; OPTIMAL CONTROL THEORY; OPTIMAL PATHS; TIME-OPTIMAL; UNIFORM WINDS;

STRUCTURAL OPTIMIZATION;

EID: 77957822080     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/acc.2010.5531602     Document Type: Conference Paper

References (14)

1. E. Zermelo, "Über das Navigationproble bei Ruhender oder Veranderlicher Windverteilung," Z. Angrew. Math. und. Mech., no. 11, 1931.
2. C. Caratheodory, Calculus of Variations and Partial Differential Equations of First Order. Washington DC: American Mathematical Society, 3 ed., 1999.
3. L. E. Dubins, "On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents," American Journal of Mathematics, vol. 79, no. 3, pp. 497-516, 1957.
4. H. J. Sussmann, "The Markov-Dubins problem with angular acceleration control," in Proceedings of 36th IEEE Conference on Decision and Control, (San Diego, CA), pp. 2639-2643, December 1997.
5. H. J. Sussmann and G. Tang, "Shortest paths for the Reeds-Shepp car: a worked out example of the use of geometric tecnhiques in nonlinear optimal control," Research Note SYCON-91-10, Rutgers University, New Brunswick, NJ, 1991.
6. J. D. Boissonnat, A. Cérézo, and J. Leblond, "Shortest paths of bounded curvature in the plane," Journal of Intelligent and Robotic Systems, vol. 11, no. 1-2, pp. 5 - 20, 1994.
7. T. G. McGee and J. K. Hedrick, "Optimal path planning with a kinematic airplane model," AIAA Journal of Guidance, Control, and Dynamics, vol. 30, no. 2, pp. 629-633, 2007.
8. H. J. Kelley, "Guidance theory and extremal fields," IRE Transactions on Automatic Control, vol. AC-7, pp. 75 - 82, October 1962.
9. R. L. McNeely, R. V. Iyer, and P. R. Chandler, "Tour planning for an unmanned air vehicle under wind conditions," AIAA Journal of Guidance, Control, and Dynamics, vol. 30, no. 5, pp. 1299-1306, 2007.
10. X. N. Bui and J. D. Boissonnat, "The shortest paths synthesis for nonholonomic robots moving forwards," Research Note 2153, Institut National de Recherche en Informatique et en Automatique, Sophia- Antipolis, France, 1993.
11. X. N. Bui, P. Souères, J. D. Boissonnat, and J. P. Laumond, "Shortest path synthesis for Dubins nonholonomic robot," in Proceedings of the 11th IEEE Intern. Conf. on Robotics and Automation (ICRA), (San Diego, California), pp. 2-7, 1994.
12. M. Cesari, Optimization - Theory and Applications. Problems with Ordinary Differential Equations. New York: Springer-Verlag, 1983.
13. M. Athans and P. Falb, Optimal Control, An Introduction to the Theory and its Application. New York: Dover Publications, 2007.
14. L. Techy and C. A. Woosley, "Minimum-time path-planning for unmanned aerial vehicles in steady uniform winds," AIAA Journal of Guidance, Control, and Dynamics, vol. 32, no. 6, pp. 1736-1746, 2009.