Paths of bounded curvature with minimal number of maneuvers
L. Panizza, R. Frezza · 2002
We address the problem of following an unknown curve with a car-like vehicle which, being subject to both nonholonomic and steering constraints, can only follow paths of bounded curvature. We discuss the problem of driving the car in a lane of unknown shape minimizing the number of velocity reversals based on the current information provided by sensors. We assume causality of the control law which means that at time t decisions on maneuvering are based only on measurements up to time t.