Two-dimensional reachable set for dubins car under an integral constraint on control
Abstract
The kinematic model "Dubins car" is considered.A scalar control is constrained by a quadratic integral constraint.A three-dimensional initial phase state is fixed, and a two-dimensional reachable set is constructed "at the instant" on the plane of geometric coordinates.The analysis is based on the Pontryagin maximum principle.Examples of numerical construction of the reachable set are given.A comparison is made with the case of a geometric control constraint.
Fields of Study & Subjects
Advanced Control Systems Optimization
Control and Dynamics of Mobile Robots
Optimization and Variational Analysis
Publication details
- Journal / source
- Communications in Optimization Theory
- Volume
- 2026
- Issue
- 1
- Publication date
- 1 January 2026
- Language
- EN