Min-Time Escape of a Dubins Car from a Polygon

Authors

Isaac E. Weintraub, Air Force Research Laboratory
Alexander Von Moll, Air Force Research Laboratory
David W. Casbeer, Air Force Research Laboratory
Satyanarayana G. Manyam, DCS Corp
Meir Pachter, Air Force Institute of TechnologyFollow
Colin Taylor, Parallax Research
Thomas Chapman, Air Force Research Laboratory

Document Type

Conference Proceeding

Publication Date

7-8-2025

Abstract

A turn constrained vehicle is initially located inside a region described as a convex polygon and desires to escape in minimum time. First, the method of characteristics is used to describe the time-optimal strategies for reaching a line. Next, the approach is extended to polygons constructed of a series of line segments. Using this construction technique, the min-time path to reach each edge is obtained; the resulting minimum of the set of optimal trajectories is then selected for escaping the polygon.

Comments

This conference paper is accessible from the publisher website, IEEEXplore, with a subscription or purchase using the DOI link below.

DOI

10.23919/ACC63710.2025.1110756

Source Publication

2025 American Control Conference (ACC)

Recommended Citation

I. E. Weintraub et al., "Min-Time Escape of a Dubins Car from a Polygon," 2025 American Control Conference (ACC), Denver, CO, USA, 2025, pp. 382-388, doi: 10.23919/ACC63710.2025.11107564.