Abstract
We consider a time-optimal problem for the Reeds and Shepp model describing a moving point on a plane, with a onesided variation of the speed and a free final direction of the velocity. Using the Pontryagin Maximum Principle, we obtain all possible types of extremal and, analyzing them and discarding nonoptimal ones, construct the optimal synthesis.
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Acknowledgements
The authors thank the anonymous referee for valuable remarks.
This research was supported by the Russian Foundation for Basic Research under grant No. 11-01-00795.
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Communicated by Felix L. Chernousko.
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Dmitruk, A.V., Samylovskiy, I.A. Optimal Synthesis in the Reeds and Shepp Problem with Onesided Variation of Velocity. J Optim Theory Appl 158, 874–887 (2013). https://doi.org/10.1007/s10957-013-0286-8
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DOI: https://doi.org/10.1007/s10957-013-0286-8