Wednesday, September 14th 201611:00 – 12:00, MW 3618
Prof. Joseph Z. Ben-Asher frmo Technion – Israel Institute of Technology, Haifa, Israel
will give a seminar on
High Speed Navigation using Time Optimal Path Primitives
at the Institute of Flight System Dynamics.
The following section gives a short summary:
This research considers the computation of the time optimal path for a point mass robot navigating in an obstacle free environment between given start and target points. The robot is also subjected to the following dynamic constraints: (1) A limitation on its maximal acceleration and deceleration (2) A limitation on its maximal turning radius due to limited friction between the wheels and the ground. The research extends the constant-speed Dubins’ classical work for which the optimal path may contain only straight lines and curves with constant radii. The research formulates the minimization problem using the standard optimal control formulation, and by applying the minimum principle, determines six types of path primitives that the optimal path may comprise. Using these path primitives, the research computes directly the time optimal path for various boundary conditions and proves their compliance with minimum principle.
for further information, please contact Matthias Bittner.