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- W2034451789 abstract "In this paper we consider the problem of safe driving of the Dubins' car on a straight road where the steering control is in the form (1 – h)s + hv where v represents a free control and s is an automatic control preventing the system from undesired behaviors that may result from the action of v. We design the safety control s steering the car to the center of the road in minimum time which fact implies to consider discontinuous feedbacks, hence to face the problem of de£ning a solution to a system with a discontinuous right hand side, and to deal with the de£nition of regular synthesis used in optimal control. We thus consider generalized solutions in Krasowskii and Filippov sense and guarantee that these solutions have a good behavior, i.e., when only s is acting (h = 0) the generalized solutions coincide with the optimal synthesis trajectories. Finally, we illustrate our strategy by simulations." @default.
- W2034451789 created "2016-06-24" @default.
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- W2034451789 date "2002-01-01" @default.
- W2034451789 modified "2023-10-16" @default.
- W2034451789 title "SAFETY DRIVING OF THE DUBINS' CAR" @default.
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- W2034451789 doi "https://doi.org/10.3182/20020721-6-es-1901.01580" @default.
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