Optimal Synthesis in the Reeds and Shepp Problem with Onesided Variation of Velocity.

We consider a time-optimal problem for the Reeds and Shepp model describing a moving point on a plane, with a onesided variation of the speed and a free final direction of the velocity. Using the Pontryagin Maximum Principle, we obtain all possible types of extremal and, analyzing them and discarding nonoptimal ones, construct the optimal synthesis. [ABSTRACT FROM AUTHOR]