Time-Optimal Problem of the Switchable Dubins Car Model with Circular Obstacles and Intermediate Stoppings

This paper addresses the problem of planar motion of a switched Dubins vehicle model that completely traverses the boundary of each prescribed circular region (obstacle) and passes through specified points, stopping at each of them. A trajectory is considered admissible if it entirely includes the perimeter of each region while avoiding its interior points. It is assumed that the vehicle changes its direction of motion only at the boundary of an obstacle or at stopping points. An algorithm for solving the time-optimal problem has been developed.