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

• Type: Article in International Conference Proceedings Book
• Date: 2022

Authors

Pereira, FL (Author) Other; Chertovskih, R (Author) FEUP; Daryina, A (Author) Other; Dmitry Karamzin (Author) FEUP

Conference proceedings International

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

Pages: 6812-6817

61st IEEE Conference on Decision and Control, CDC 2022

6 December 2022 through 9 December 2022

Indexing

ISI Web of Knowledge - 0 Citations

Scopus

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6