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Article: Research from S.P. Bhat et al has provided new information about automation science.
- Article from:
- Robotics & Machine Learning
- Article date:
- August 17, 2009
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"This technical note considers the problem of finding optimal trajectories for a particle moving in a 2-D plane from a given initial position and velocity to a specified terminal heading under a magnitude constraint on the acceleration. The cost functional to be minimized is the integral over time of a non-negative power of the particle's speed," researchers in Bombay, India report.
"Special cases of such a cost functional include travel time and path length. Unlike previous work on related problems, variations in the magnitude of the velocity vector are allowed. Pontryagin's maximum principle is used to show that the optimal paths possess a special property ...