论文标题
Dubins Car的圆形区域的最低时间逃跑
Minimum-Time Escape from a Circular Region for a Dubins Car
论文作者
论文摘要
我们研究了找到可以建模为dubins Car（即恒定有限端率率独轮车）的机器人的路径的问题，以在最短时间内从空间的圆形区域中逃脱。这种最小的时间逃逸问题是在违反安全区域的情况下在海洋，空中和地面机器人的情况下出现的，必须在发生潜在的负面后果之前退出（例如，碰撞）。使用非线性最佳控制理论的工具，我们表明，一种令人惊讶的简单封闭形式反馈控制法解决了这个最低时间的逃生问题，并且最小时间路径具有优雅的几何解释。
We investigate the problem of finding paths that enable a robot modeled as a Dubins car (i.e., a constant-speed finite-turn-rate unicycle) to escape from a circular region of space in minimum time. This minimum-time escape problem arises in marine, aerial, and ground robotics in situations where a safety region has been violated and must be exited before a potential negative consequence occurs (e.g., a collision). Using the tools of nonlinear optimal control theory, we show that a surprisingly simple closed-form feedback control law solves this minimum-time escape problem, and that the minimum-time paths have an elegant geometric interpretation.
