Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables

• Type: Article in International Conference Proceedings Book
• Date: 2020

Authors

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

Conference proceedings International

Title: European Control Conference 2020, ECC 2020

Pages: 1210-1215

18th European Control Conference, ECC 2020

12 May 2020 through 15 May 2020

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ISI Web of Knowledge - 4 Citations

Scopus - 4 Citations

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Other information

Authenticus ID: P-00S-PMQ

Abstract (EN): The time-optimal motion of a three-wheeled mobile robot with the front-wheel drive in the presence of a state constraint given by the unit circle is investigated. The poor property of this problem consists in the lack of regularity of the dynamics w.r.t. the state constraint. Therefore, a certain regularization technique is developed in order to overcome the phenomenon of non-regularity. We propose a construction of an approximating sequence of regular ¿-problems. It follows that a regular w.r.t. the state constraint problem is numerically solvable in the framework of the indirect approach, that is, by using the maximum principle, due to the continuity of the measure-multiplier which is ensured under the regularity condition. This fact justifies the necessity for the perturbation analysis undertaken in this article. © 2020 EUCA.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6