This paper investigates the minimum-time path-planning problem for a kinematic car with variable speed and turn rate controls. The speed is strictly positive, ranging from a lower to an upper limit, and the turn rate limits are symmetric about zero. The minimum principle is used to characterize the extremal controls and, using additional geometric arguments, a finite and sufficient set of candidate optimal controls is derived. It is found that, in addition to straight and maximum rate turning segments at maximum-speed, minimum-time paths may include “cornering” turns at the minimum forward speed and the maximum turn rate. A procedure is proposed for solving the path synthesis problem of constructing the minimum-time path between two “oriented points” in the plane.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Time-Optimal Path Planning for a Kinematic Car with Variable Speed


    Contributors:

    Published in:

    Publication date :

    2016-10-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Optimal Path Planning with a Kinematic Airplane Model

    Timothy McGee / J. Karl Hedrick | AIAA | 2007



    Kinematic Path Planning for Space-Based Robotics

    Seereeram, S. / Wen, J. T. / University of New Mexico; School of Engineering; Institute for Space and Nuclear Power Studies | British Library Conference Proceedings | 1998


    Kinematic path planning for space-based robotics

    Seereeram, Sanjeev / Wen, John T. | American Institute of Physics | 1998