Safety driving of the Dubins' car

Alessia Marigo, Benedetto Piccoli

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper we consider the problem of safe driving of the Dubins' car on a straight road where the steering control is in the form (1 - h)s + hv where v represents a free control and s is an automatic control preventing the system from undesired behaviors that may result from the action of v. We design the safety control s steering the car to the center of the road in minimum time which fact implies to consider discontinuous feedbacks, hence to face the problem of deining a solution to a system with a discontinuous right hand side, and to deal with the deinition of regular synthesis used in optimal control. We thus consider generalized solutions in Krasowskii and Filippov sense and guarantee that these solutions have a good behavior, i.e., when only s is acting (h = 0) the generalized solutions coincide with the optimal synthesis trajectories. Finally, we illustrate our strategy by simulations.

Original languageEnglish (US)
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
EditorsGabriel Ferrate, Eduardo F. Camacho, Luis Basanez, Juan. A. de la Puente
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)9783902661746
StatePublished - 2002
Externally publishedYes
Event15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
Duration: Jul 21 2002Jul 26 2002

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


Other15th World Congress of the International Federation of Automatic Control, 2002

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


  • Cooperative controls
  • Differential inclusions
  • Optimal feedbacks


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