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An exact penalty function method for optimal control of a dubins airplane in the presence of moving obstacles

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Abstract

In this article, we obtain controls that give the time-optimal trajectories for a Dubins airplane in the presence of fixed and moving obstacles. Using an exact penalty function method, we show the existence of the control variable for a Dubins airplane with given initial and final positions so that the airplane could reach its destination in the shortest time while avoiding fixed and moving obstacles. We demonstrate the effectiveness of our method by three examples.

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Acknowledgements

The authors would like to thank the anonymous referees whose comments helped improving our presentation. The second author would like to express his gratitude to the Institut de Mathématiques de Toulouse (IMT) where this article was partially written.

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Correspondence to B. Bidabad.

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Fathi, Z., Bidabad, B. & Najafpour, M. An exact penalty function method for optimal control of a dubins airplane in the presence of moving obstacles. Optim Lett 16, 1197–1213 (2022). https://doi.org/10.1007/s11590-021-01773-6

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  • DOI: https://doi.org/10.1007/s11590-021-01773-6

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