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

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 ful...

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Bibliographic Details
Published inProcedia computer science Vol. 186; pp. 11 - 20
Main Authors Pereira, Fernando Lobo, Chertovskih, Roman, Daryina, Anna, Diveev, Askhat, Karamzin, Dmitry, Sofronova, Elena
Format Journal Article
LanguageEnglish
Published Elsevier B.V 2021
Subjects
maximum principle
regularization
state constraints
Unicycle model
Unicycle model
state constraints
maximum principle
regularization
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Summary: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.
ISSN:1877-0509
1877-0509
DOI:10.1016/j.procs.2021.04.203