## Optimal synthesis in the Reeds and Shepp problem with a free final direction

We consider a time-optimal problem for the Reeds and Shepp model describing a moving point on a plane, with a free final direction of velocity. Using Pontryagin Maximum Principle, we obtain all types of extremals and, analysing them and discarding nonoptimal ones, construct the optimal synthesis. Article Download View Optimal synthesis in the Reeds and … Read more