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Avtomatika i Telemekhanika, 2021, Issue 5, Pages 3–19
DOI: https://doi.org/10.31857/S0005231021050019 (Mi at15551) 		 
This article is cited in 18 scientific papers (total in 18 papers)

Nonlinear Systems

Time-optimal interception of a moving target by a dubins car

M. E. Buzikov, A. A. Galyaev

Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, 117997 Russia
Full-text PDF (565 kB) Citations (18)
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DOI: https://doi.org/10.31857/S0005231021050019
Abstract: The problem of intercepting a target moving along a prescribed trajectory by a Dubins car is stated and formalized as a time-optimal control problem with an arbitrary car velocity direction at the interception. The conditions available in the literature under which the optimal trajectory is a geodesic line drawn from the initial position of the car to the interception point are refined. Algebraic equations for calculating the optimal interception time are obtained. The optimal control is synthesized based on these equations. A software module is developed for constructing the optimal car trajectories for various target trajectories.
Keywords: Dubins car, reachability set, interception of moving target, motion under windy conditions, time-optimal control problem, geodesic line.
Funding agency
This work was supported by the Youth Scientific School at the Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences.
Presented by the member of Editorial Board: E. Ya. Rubinovich

Received: 27.08.2020
Revised: 15.11.2020
Accepted: 08.12.2020
English version:
Automation and Remote Control, 2021, Volume 82, Issue 5, Pages 745–758
DOI: https://doi.org/10.1134/S0005117921050015
Bibliographic databases:
Document Type: Article
Language: Russian
Citation: M. E. Buzikov, A. A. Galyaev, “Time-optimal interception of a moving target by a dubins car”, Avtomat. i Telemekh., 2021, no. 5, 3–19; Autom. Remote Control, 82:5 (2021), 745–758
Citation in format AMSBIB
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\issue 5
\pages 3--19
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\pages 745--758
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    • This publication is cited in the following 18 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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