Optimal feedback control for route tracking with a bounded-curvature vehicle

摘要: The problem of driving a vehicle along given path is considered. supposed to move forward only, with velocity profile, and have bounded turning radius. Such model, also known as 'Dubins' vehicle', relevant the kinematics road vehicles well aircraft cruising at constant altitude, or sea vessels. We consider optimal control consisting minimizing length travelled by starting from generic configuration connect specified route. A feedback law proposed, such that straight routes can be approached optimally, while system asymptotically stabilized. Experimental results are reported showing real-time feasibility proposed approach.