Time-optimal motion of spatial Dubins systems

EasyChair Preprint 728

Abstract

This paper presents a generic numerical approach to find the kinematic time-optimal trajectories for 3D rigid bodies with a finite set of translation, rotation, and screw controls, in an obstacle-free space. First, geometric necessary conditions for time-optimality are derived. Second, a method is presented for sampling trajectories satisfying the necessary conditions sufficiently densely to guarantee that for any start configuration and goal location, a trajectory can be found that provably approximately reaches the goal, approximately optimally.

Keyphrases: Motion and Path Planning, Optimization and Optimal Control, kinematics

@booklet{EasyChair:728,
  author    = {Weifu Wang and Devin Balkcom},
  title     = {Time-optimal motion of spatial Dubins systems},
  howpublished = {EasyChair Preprint 728},
  year      = {EasyChair, 2019}}