01133nas a2200145   4500008004100000245008200041210006900123300001600192520060000208653002100808653001300829100001900842700001500861856011100876       2007                        eng d00aA Dynamic Programming Approach to Optimal Planning for Vehicles with Trailers0 aDynamic Programming Approach to Optimal Planning for Vehicles wi  a3098 - 31033 a<p>In this paper we deal with the optimal feedback synthesis problem for robotic vehicles with trailers which can be modeled by differential equations in chained-form. With respect to classical methods for numerical evolution of optimal feedback synthesis via Dynamic Programming which are based on both input and state discretization, our method exploits the lattice structure naturally imposed on the reachable set by input quantization. A generalized Dijkstra algorithm can be used to obtain optimal feedback control laws, for chained-form vehicles with n-trailers, in an effective way.</p>
10aEmbedded Control10aRobotics1 aPallottino, L.1 aBicchi, A.  uhttp://175973.jxltd.asia/publications/dynamic-programming-approach-optimal-planning-vehicles-trailers.html