Time optimal control in presence of moving obstacles for a Dubins airplane

TL;DR

This paper develops a method for controlling a Dubins airplane to achieve time-optimal trajectories while avoiding moving and fixed obstacles, using an exact penalty function approach.

Contribution

It introduces a novel application of the exact penalty function method for time-optimal control of Dubins airplanes with obstacle avoidance.

Findings

Successfully computes shortest-time trajectories with obstacle avoidance

Demonstrates effectiveness of the penalty function method in control optimization

Provides a framework for real-time trajectory planning in complex environments

Abstract

In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the exact penalty function method so that the airplane reaches the end position in the shortest time in the presence of obstacles.