Min-Time Escape of a Dubins Car from a Polygon
<|reference_start|>Min-Time Escape of a Dubins Car from a Polygon: A turn constrained vehicle is initially located inside a polygon region and desires to escape in minimum time. First, the method of characteristics is used to describe the time-optimal strategies for reaching a line of infinite length. Next, the approach is extended to polygons constructed of a series of line segments. Using this construction technique, the min-time path to reach each edge is obtained; the resulting minimum of the set of optimal trajectories is then selected for escaping the polygon.<|reference_end|>
@article{weintraub2024min-time,
    title={Min-Time Escape of a Dubins Car from a Polygon},
    author={Isaac E. Weintraub, Alexander Von Moll, David Casbeer, Satyanarayana G
  Manyam, Meir Pachter, and Colin Taylor},
    journal={arXiv preprint arXiv:2410.01589},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.01589},
    primaryClass={eess.SY cs.SY}
}