Abstract : In this paper, the problem of finding minimum length paths for a Dubins' vehicle that can only move forward in an heterogeneous environment is considered. An hybrid version of the Pontryagin's maximum principle is used to derive necessary conditions for optimality. Unlike in the case of homogeneous environments, it is deduced that heterogeneity of the environment implies that optimal paths can contain reflections. A subclass of environments is analyzed more specifically in order to obtain additional necessary conditions. Based on these results, two concrete application cases are detailed to demonstrate the usefulness of the approach in practice. The first example concerns a mobile robot and the second example concerns a glider.
https://hal.archives-ouvertes.fr/hal-00861238
Contributeur : Bruno Hérissé <>
Soumis le : vendredi 25 juillet 2014 - 18:12:12
Dernière modification le : mercredi 4 janvier 2017 - 16:24:05
Document(s) archivé(s) le : mardi 25 novembre 2014 - 18:52:15
Bruno Hérissé, Romain Pepy. Shortest paths for the Dubins' vehicle in heterogeneous environments. 52nd IEEE Conference on Decision and Control, Dec 2013, Florence, Italy. pp.4504-4509, 2013. <hal-00861238v2>
