An exact penalty function method for optimal control of a Dubins airplane in the presence of moving obstacles (Q2128770)

In this paper, the authors investigate the time-optimal control for a Dubins airplane model (it adds altitude to the car model of L.E. Dubins) in the presence of fixed and moving obstacles. Using an exact penalty function method, the authors show the existence of the control variables for this problem. The effectiveness of the method is demonstrated using three (toy) examples. In the first example, the moving obstacles are far from the plane's trajectory and consequently have no effect on the trajectory at all. The last two examples deal with moving obstacles disrupting the plane's flight path.