Zermelo-Markov-Dubins with two trailers
Résumé
We study the minimum time problem for a simplified model of a ship towing a long spread of cables. Constraints are on the curvature of the trajectory as well as on the shape of what represent the spread of cables here. This model turns out to be the same as a cart towing two trailers and rolling without sleeping on a plane in uniform translation. The Hamiltonian system resulting from Pontryagin Maximum principle is not integrable.
Domaines
Optimisation et contrôle [math.OC]
Origine : Fichiers produits par l'(les) auteur(s)