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Extremals in the problem of minimum time obstacle avoidance for a 2D double integrator system

Osmolovskii N. P., Figura A., Koska M., Wojtowicz M.

Control and Cybernetics

2015

Vol. 44, no. 2

185--209

This paper provides an analysis of time optimal control problem of motion of a material point in the plane outside the given circle, without friction. The point is controlled by a force whose absolute value is limited by one. The closure of exterior of the circle plays the role of the state constraint. The analysis of the problem is based on the minimum principle.