On some regularization of the control problem for a tracked mobile robot in a steady flow field under state constraints

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

Authors

Chertovskih, RA (Author) FEUP; Daryina, AN (Author) Other; Dmitry Karamzin (Author) FEUP; Pereira, FL (Author) Other

Conference proceedings International

Title: IFAC PAPERSONLINE

Pages: 226-230

10th Vienna International Conference on Mathematical Modelling (MATHMOD)

Tech Univ Wien, ELECTR NETWORK, JUL 27-29, 2022

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Other information

Authenticus ID: P-00X-6XZ

DOI: 10.1016/j.ifacol.2022.09.0128

Abstract (EN): In this article, we consider the time-optimal motion control of a tracked mobile robot in the presence of state constraints. The complexity of the problem statement is due to a steady vector flow field in which the motion is takes place. The difficulty of the considered model is also compounded with the non-regularity of the dynamics with respect to the state constraints. A method for regularisation is proposed. Such a method involves a certain construction of a regular (in the needed sense) epsilon-perturbation of the original problem. Copyright (C) 2022 The Authors.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 5