Construction of scattering curves in one class of time-optimal control problems with leaps of a target set boundary curvature

P. D. Lebedev ; A. A. Uspenskii

Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta, Tome 55 (2020), pp. 93-112.

Résumé

We consider a time-optimal control problem on the plane with a circular vectogram of velocities and a non-convex target set with a boundary having a finite number of points of discontinuity of curvature. We study the problem of identifying and constructing scattering curves that form a singular set of the optimal result function in the case when the points of discontinuity of curvature have one-sided curvatures of different signs. It is shown that these points belong to pseudo-vertices that are characteristic points of the boundary of the target set, which are responsible for the generation of branches of a singular set. The structure of scattering curves and the optimal trajectories starting from them, which fall in the neighborhood of the pseudo-vertex, is investigated. A characteristic feature of the case under study is revealed, consisting in the fact that one pseudo-vertex can generate two different branches of a singular set. The equation of the tangent to the smoothness points of the scattering curve is derived. A scheme is proposed for constructing a singular set, based on the construction of integral curves for first-order differential equations in normal form, the right-hand sides of which are determined by the geometry of the boundary of the target in neighborhoods of the pseudo-vertices. The results obtained are illustrated by the example of solving the control problem when the target set is a one-dimensional manifold.

Détail

Keywords: time-optimal problem, dispersing line, curvature, Hamilton–Jacobi equation, singular set
Mots-clés : tangent, pseudo vertex.

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