Extremal trajectories in a time-optimal problem on the group of motions of a plane with admissible control in a circular sector (Q6072982)

The authors study the time-optimal problem of a car that moves on a plane and has a minimum turning radius proving the controllability and existence of optimal trajectories. They deduce a Hamiltonian system for extremals by using optimality conditions based on the Pontryagin maximum principle. Qualitative study of the Hamiltonian and explicit expressions for the extremal control and trajectories are derived. It is shown that the studied system can be used for detections of salient lines in image processing.