Mashtakov, A.P., Sachkov, Y.L. Extremal Trajectories in a Time-Optimal Problem on the Group of Motions of a Plane with Admissible Control in a Circular Sector. Proc. Steklov Inst. Math, 321, 200–207 (2023).
We consider a time-optimal problem for a car model that can move forward on a plane and turn with a given minimum turning radius. Trajectories of this system are applicable in image processing for the detection of salient lines. We prove the controllability and existence of optimal trajectories. Applying the necessary optimality condition given by the Pontryagin maximum principle, we derive a Hamiltonian system for the extremals. We provide qualitative analysis of the Hamiltonian system and obtain explicit expressions for the extremal controls and trajectories.