Detail publikace

Numerical Experiment on Optimal Control for the Dubins Car Model

FROLÍK, S. RAJCHL, M. STODOLA, M.

Originální název

Numerical Experiment on Optimal Control for the Dubins Car Model

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

Dubins car model, Lie algebra, Optimal control problem, Pontryagin maximum principle, Nilpotent algebra, Numerical simulations

Autoři

FROLÍK, S.; RAJCHL, M.; STODOLA, M.

Vydáno

5. 3. 2021

ISBN

978-3-030-70739-2

Kniha

Modelling and Simulation for Autonomous Systems

ISSN

1611-3349

Periodikum

Lecture Notes in Computer Science

Číslo

12619

Stát

Italská republika

Strany od

111

Strany do

122

Strany počet

11

BibTex

@inproceedings{BUT183064,
  author="Stanislav {Frolík} and Matej {Rajchl} and Marek {Stodola}",
  title="Numerical Experiment on Optimal Control for the Dubins Car Model",
  booktitle="Modelling and Simulation for Autonomous Systems",
  year="2021",
  journal="Lecture Notes in Computer Science",
  number="12619",
  pages="111--122",
  doi="10.1007/978-3-030-70740-8\{_}7",
  isbn="978-3-030-70739-2",
  issn="1611-3349"
}