A Regularization Approach to Analyze the Time-Optimal Motion of a Mobile Robot under State Constraints using Pontryagin's Maximum Principle

• Type: Article in International Conference Proceedings Book
• Date: 2021

Authors

Fernando Lobo Pereira (Author) Other; Roman Chertovskih (Author) FEUP; Anna Daryina (Author) Other; Askhat Diveev (Author) Other; Dmitry Karamzin (Author) Other; Elena Sofronova (Author) Other

Conference proceedings International

Title: 14TH INTERNATIONAL SYMPOSIUM INTELLIGENT SYSTEMS

Pages: 11-20

14th International Symposium on Intelligent Systems

ELECTR NETWORK, DEC 14-16, 2020

Indexing

ISI Web of Knowledge - 4 Citations

Other information

Authenticus ID: P-00V-28Q

DOI: 10.1016/j.procs.2021.04.203

Abstract (EN): This work concerns the investigation of time-optimal control problem for a simplified mobile robot model subject to state constraints. In this type of problems, which involve the so-called unicycle dynamics, the well-established regularity conditions with respect to the state constraints are not fulfilled. This fact greatly complicates the analysis of the control problem bearing in mind the use of the maximum principle. Moreover, the difficulty is also due to the presence of a singular control mode with respect to the angular velocity. Herein, a regularization approach is proposed in order to overcome these obstacles. A certain tool for the numerical implementation is developed. The numerical analysis is provided for a sample problem. (c) 2021 The Authors. Published by Elsevier B.V.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10