Structure and geometry of minimum-time trajectories for planar rigid bodies
Andrei A. Furtuna, Weifu Wang, Yu-Han Lyu, Devin Balkcom · 2013
This paper explores the structure of the time optimal trajectories for a rigid body in the unobstructed plane. The available controls for the system are the velocity and angular velocity of the body, in its own frame of reference. Controls are bounded by a closed convex polyhedron. The paper shows that the structure of the optimal trajectories may be completely described analytically.