Time optimal paths for a constant speed unicycle

Conference · Tue Jan 01 00:00:00 EST 1991

OSTI ID:5836516

Reister, D B

This paper uses the Pontryagin maximum principle to find time optimal paths for a constant speed unicycle. The time optimal paths consist of sequences of arcs of circles and straight lines. The maximum principle introduced concepts (dual variables, bang-bang solutions, singular solutions, and transversality conditions) that provide important insight into the nature of the time optimal paths. 10 refs., 6 figs.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: USDOE; USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5836516
• Report Number(s): CONF-920540-10; ON: DE92000071
• Resource Relation: Conference: 1992 Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics and automation, Nice (France), 10-15 May 1992
• Country of Publication: United States
• Language: English

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