Abnormal geodesics in 2D-Zermelo navigation problems in the case of revolution and the Fan shape of the small time balls

DOI10.1016/J.SYSCONLE.2022.105140MaRDI QIDQ2124477zbMATH OpenOpenAlexFDO

Authors Bernard Bonnard, J. Gergaud, B. Wembe, O. Cots

Publication date 11 April 2022

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2201.03831

zbMATH Keywords

abnormal geodesicsgeometric optimal controlsingularity of the value function in the abnormal directionZermelo navigation problems

Mathematics Subject Classification ID

Geometric measure and integration theory, integral and normal currents in optimization (49Q15) Variational principles of physics (49S05)

Abstract: In this article, based on two case studies, we discuss the role of abnormal geodesics in planar Zermelo navigation problems. Such curves are limit curves of the accessibility set, in the domain where the current is strong. The problem is set in the frame of geometric time optimal control, where the control is the heading angle of the ship and in this context, abnormal curves are shown to separate time minimal curves from time maximal curves and are both small-time minimizing and maximizing. We describe the small-time minimal balls. For bigger time, a cusp singularity can occur in the abnormal direction, which corresponds to a conjugate point along the non-smooth image. It is interpreted in terms of the regularity property of the time minimal value function.

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Cited in

(5)

• Accessibility properties of abnormal geodesics in optimal control illustrated by two case studies
• An account on links between Finsler and Lorentz geometries for Riemannian geometers
• Zermelo navigation problems on surfaces of revolution and geometric optimal control
• The Zermelo navigation problem on the 2-sphere of revolution: an optimal control perspective with applications to micromagnetism
• An algorithmic guide for finite-dimensional optimal control problems

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