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Time-optimal guidance for intercepting moving targets by Dubins vehicles.
- Source :
-
Automatica . Jun2021, Vol. 128, pN.PAG-N.PAG. 1p. - Publication Year :
- 2021
-
Abstract
- This paper is concerned with a Minimum-Time Intercept Problem (MTIP), for which a Dubins vehicle is guided from a position with a prescribed initial heading angle to intercept a moving target in minimum time. Some geometric properties for the solution of the MTIP are presented, showing that the solution paths must lie in a sufficient family of 4 candidates. Necessary and sufficient conditions for optimality of each candidate are established. By employing the geometric properties, it is found that the 4 candidates are determined by the zeros of some real-valued functions when the target's velocity is constant. In order to compute all the 4 candidates, the derivatives of these real-valued functions are transformed to polynomials so that the extrema of those real-valued functions can be computed by standard polynomial solvers. This allows employing a simple bisection method to find all the 4 candidates. Since the MTIP with a constant target's velocity is equivalent to the path planning problem of Dubins vehicle in a constant drift field, developing such an algorithm also enables efficiently finding the shortest Dubins path in a constant drift field. Finally, some numerical examples are presented, demonstrating and verifying the developments of the paper. [ABSTRACT FROM AUTHOR]
- Subjects :
- *VEHICLES
*POLYNOMIALS
*VELOCITY
*ALGORITHMS
Subjects
Details
- Language :
- English
- ISSN :
- 00051098
- Volume :
- 128
- Database :
- Academic Search Index
- Journal :
- Automatica
- Publication Type :
- Academic Journal
- Accession number :
- 149734634
- Full Text :
- https://doi.org/10.1016/j.automatica.2021.109557