Regular approximations of time-optimal motion for a tracked mobile robot travelling in a vector flow field under restricted state variables

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2022

Autores

Pereira, FL (Autor) Outra; Chertovskih, R (Autor) FEUP; Daryina, A (Autor) Outra; Dmitry Karamzin (Autor) FEUP

Ata de Conferência Internacional

Título: 61st IEEE Conference on Decision and Control, CDC 2022, Cancun, Mexico, December 6-9, 2022

Páginas: 6812-6817

61st IEEE Conference on Decision and Control, CDC 2022

6 December 2022 through 9 December 2022

Indexação

ISI Web of Knowledge - 0 Citações

Scopus

Outras Informações

ID Authenticus: P-00X-VR0

DOI: 10.1109/cdc51059.2022.9992332

Abstract (EN): The time-optimal motion for a tracked mobile robot in the presence of state constraints and a vector flow field is examined. The difficulty of the considered model is due to non-regularity of the dynamics with respect to the state constraints. A certain method for regularisation is proposed, which uses specific epsilon-approximations to the original problem, regular in the sense formulated below. The results of the numerical experiment are presented.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6