Reachable set for Dubins car and its application to observation problem with incomplete information
Valerii Semenovich Patsko, Andrey A. Fedotov · 2019
A three-dimensional reachable set “at the instant” for a controlled object called the Dubins car is considered. The turn angular velocity of the linear velocity vector is a control variable. Along with the case when, according to the statement of the problem, rotation is possible in both directions, the cases of one-sided rotation are studied. Three-dimensional images of reachable sets are presented. Sufficiency of the Pontryagin maximum principle conditions for the control leading to the boundary of the reachable set is analyzed. Possibility of using reachable sets in the problem of motion observation under conditions of inaccurate measurements of the geometric position is considered.