reeds and shepp car

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

  • Andrei V. Dmitruk
  • Ivan Samylovskiy
    • Categories Applications - Science and Engineering, Mechanical Engineering Tags , , , ,

    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. ArticleDownload View PDF