Zermelo-Markov-Dubins with two trailers
نویسندگان
چکیده
We study the minimum time problem for a simplified model of ship towing long spread cables. Constraints are on curvature trajectory as well shape what represent cables here. This turns out to be same cart two trailers and rolling without sleeping plane in uniform translation. analyse Hamiltonian system describing extremal flow given by Pontrjagin maximum principle. detail equilibria prove that, contrary case one trailer studied previously part authors, it is not solvable quadratures. Preliminary numerical results given.
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2021
ISSN: ['2405-8963', '2405-8971']
DOI: https://doi.org/10.1016/j.ifacol.2021.11.086