Time optimal control for collision avoidance recovery of two unicycles.
Published: 2005
Language: eng
Number of pages: 180
Description: This thesis addresses the problem of steering two identical Dubins unicycles back to desired constant headings in minimum time after a collision avoidance event. A canonical terminal condition for a collision avoidance controller is that the unicycles are a minimum distance from each other and with equal heading. For this terminal condition, we derive, based on the Pontryagin maximum principle, a time optimal "recovery controller" that returns the unicycles to their desired headings without incurring further collision avoidance events and while maintaining a minimum safe separation. As an intermediate step of the problem, we obtain a Dubins-like theorem on the feasible time optimal paths for a two unicycle system when one unicycle steers straight while the other's goal is to reach a desired heading. This result provides the first Dubins-like theorem available for the case of a unicycle navigating in the presence of a time-varying state constraint.
Notes: Source: Masters Abstracts International, Volume: 44-02, page: 1000.

Thesis (M.A.Sc.)--University of Toronto, 2005.

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