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Numerical Experiment on Optimal Control for the Dubins Car Model

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F21%3APU147850" target="_blank" >RIV/00216305:26210/21:PU147850 - isvavai.cz</a>

  • Result on the web

    <a href="http://dx.doi.org/10.1007/978-3-030-70740-8_7" target="_blank" >http://dx.doi.org/10.1007/978-3-030-70740-8_7</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1007/978-3-030-70740-8_7" target="_blank" >10.1007/978-3-030-70740-8_7</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Numerical Experiment on Optimal Control for the Dubins Car Model

  • Original language description

    This paper deals with optimal control of the Dubins car model, whose configuration space is three dimensional smooth manifold. There are computed vector fields that generate solvable Lie algebra isomoprhically equivalent to tangent space in each point of the manifold. Then an otpimal control problem for finding the shortest curve between two points on the manifold is formulated. The problem is analytically solved for the nilpotent approximation of the fields and fixed points of the symmetries are found. To these fixed points multiple optimal trajectories can lead. The problem is also solved by using numerical simulations and these are compared with the analyticla solutions.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    10102 - Applied mathematics

Result continuities

  • Project

  • Continuities

    S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Others

  • Publication year

    2021

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    Modelling and Simulation for Autonomous Systems

  • ISBN

    978-3-030-70739-2

  • ISSN

    1611-3349

  • e-ISSN

  • Number of pages

    11

  • Pages from-to

    111-122

  • Publisher name

    Neuveden

  • Place of publication

    neuveden

  • Event location

    Prague

  • Event date

    Oct 21, 2020

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article

    000763018100007