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arXiv · 2410.01589

Min-Time Escape of a Dubins Car from a Polygon

Isaac E. Weintraub·Alexander Von Moll·David Casbeer·Satyanarayana G Manyam·Meir Pachter·Colin Taylor
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Abstract

A turn constrained vehicle is initially located inside a polygon region and desires to escape in minimum time. First, the method of characteristics is used to describe the time-optimal strategies for reaching a line of infinite length. Next, the approach is extended to polygons constructed of a series of line segments. Using this construction technique, the min-time path to reach each edge is obtained; the resulting minimum of the set of optimal trajectories is then selected for escaping the polygon.

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Isaac E. Weintraub, Alexander Von Moll, David Casbeer, Satyanarayana G Manyam, Meir Pachter, Colin Taylor. 2024-10-02. Min-Time Escape of a Dubins Car from a Polygon. https://arxiv.org/abs/2410.01589

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