A Hamilton-Jacobi Formulation for Time-Optimal Paths of Rectangular Nonholonomic Vehicles

Authors Christian Parkinson, Andrea L. Bertozzi, Stanley Osher

Publication date 7 May 2020

Dynamic programming in optimal control and differential games (49L20) Finite difference methods for initial value and initial-boundary value problems involving PDEs (65M06)

Abstract: We address the problem of optimal path planning for a simple nonholonomic vehicle in the presence of obstacles. Most current approaches are either split hierarchically into global path planning and local collision avoidance, or neglect some of the ambient geometry by assuming the car is a point mass. We present a Hamilton-Jacobi formulation of the problem that resolves time-optimal paths and considers the geometry of the vehicle.

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