转弯半径约束下的车辆最优目标拦截路径
Optimal Target Intercept Paths for Vehicles with Turn Radius Constraints
摘要：
提出了一个追踪者拦截圆周运动目标的路径规划问题。这里考虑的追踪器具有有限的偏航角速度，因此其路径应满足运动学约束。我们假设追踪者的初始位置与目标圆上任何点之间的距离大于追踪者最小转弯半径的四倍。证明了圆-直线-圆型Dubins路关于目标圆上位置的连续性。这是用来证明的最佳拦截路径是一个Dubins路径，我们提出了一个迭代算法来寻找最佳拦截点的目标圆。
英文摘要：
We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisfy the kinematic constraints. We assume that the distance between initial position of the pursuer and any point on the target circle is greater than four times the minimum turn radius of the pursuer. We prove the continuity of the Dubins paths of type Circle-Straight line-Circle with respect to the position on the target circle. This is used to prove that the optimal interception path is a Dubins path, and we present an iterative algorithm to find the optimal interception point on the target circle.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
