Numerical Experiment on Optimal Control for the Dubins Car Model

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>

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

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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