Minimum Time Escape from a Circular Region of a Dubins Car
Isaac E. Weintraub, Alexander Von Moll, and Meir Pachter
TL;DR
This paper investigates the optimal strategy for a turn-constrained evader, modeled as a Dubins car, to escape a circular region in the shortest possible time.
Contribution
It introduces a novel analysis of minimum-time escape strategies for Dubins cars within circular regions.
Findings
Derived optimal escape trajectories for the evader.
Identified conditions under which escape is fastest.
Provided theoretical bounds on escape times.
Abstract
A turn-constrained evader strives to escape a circular region in minimum time.
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Taxonomy
TopicsQuantum chaos and dynamical systems · Control and Dynamics of Mobile Robots · Spacecraft Dynamics and Control