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Reachable Sets for Dubins Car in Control Problems: Physical Visualization

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Starodubtsev I.S., Fedotov A.A., Averbukh V.L., Patsko V.S.

The work deals with an application of the 3D-printing to full-size building the reachable sets in control problems.
As an example, a simple car model is considered with nonlinear dynamics, three-dimensional phase vector, and
scalar control constrained by modulus (Dubins car). Current state of the sytem includes its position in the plane
and the velocity heading. The velocity value is given to be constant.
The reachable sets are considered "at the terminal instant" and "till the terminal instant".
These sets are nonconvex and their boundaries are not smooth in
the whole. Peculiarities of the sets can be better comprehenced being represented in the form of three-dimensional
bodies that are built with using the 3D-printing. The sets' boundaries are presented in the VRML and STL formats.
Examples of computation and visualization are given including their 3D-printed copies. Problems are discussed
that appear under the 3D-constructing of surfaces with complicated forms.

We submit here the poster presentation and description for it.

### Poster

RSDCCPPV2016_poster.pdf (3983 KB)

### Description

RSDCCPPV2016_eng.pdf (73 KB)

*Starodubtsev I.S., Fedotov A.A., Averbukh V.L., Patsko V.S.*
**Reachable Sets for Dubins Car in Control Problems: Physical Visualization**
//
24th International Conference in Central Europe on Computer Graphics,
Visualization and Computer Vision.
WSCG 2016. Plzen, Czech Republic May 30 – June 3, 2016. Posters Proceedings. Pp. 49–52.

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