Download PDFOpen PDF in browserTime-optimal motion of spatial Dubins systemsEasyChair Preprint 72816 pages•Date: January 14, 2019AbstractThis 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
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