Minimal time synthesis for a kinematic drone model

Marc-Aurèle Lagache, Ulysse Serres, Vincent Andrieu
2017 Mathematical Control and Related Fields  
In this paper, we consider a (rough) kinematic model for a UAV flying at constant altitude moving forward with positive lower and upper bounded linear velocities and positive minimum turning radius.For this model, we consider the problem of minimizing the time travelled by the UAV starting from a general configuration to connect a specified target being a fixed circle of minimum turning radius.The time-optimal synthesis is presented as a partition of the state space which defines a unique
more » ... l path such that the target can be reached optimally.
doi:10.3934/mcrf.2017009 fatcat:vtdfgwwmvncfbobr4ffbwpynkm