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

• Published in: Procedia 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
• Language: English
• Published: Elsevier B.V 2021
• Subjects: maximum principle; regularization; state constraints; Unicycle model; Unicycle model; state constraints; maximum principle; regularization

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...