Minimum-Time Trajectories for Steered Agent With Constraints on Speed, Lateral Acceleration, and Turning Rate
William Lewis Scott, Naomi Ehrich Leonard · Journal of Dynamic Systems Measurement and Control · 2018
We present time-optimal trajectories for a steered agent with constraints on speed, lateral acceleration, and turning rate for the problem of reaching a point on the plane in minimum time with free terminal heading angle. Both open-loop and state-feedback forms of optimal controls are derived through application of Pontryagin's minimum principle. We apply our results for the single agent to solve a multi-agent coverage problem in which each agent has constraints on speed, lateral acceleration, and turning rate.