|Title of the article||
SYSTEM FOR TROUBLE-FREE CONTROL OF A ROBOTS GROUP
Bereznev Valentin Alexandrovich, doctor of physical and mathematical sciences, senjor reseacher, Robot control center, Federal reseach center "Computer Science and Management" of the Russian Academy of Sciences (40 Vavilov street, Moscow, Russia), E-mail: email@example.com
The problem of simultaneous control of robots group is considered. For each of robots the start and end points of the path are set. Feature the problem is that it is impossible to move robots in a straight line from the starting point to the end point due to the presence of obstacles. It is assumed that obstacles have a circular shape. The presence of obstacles makes it very problematic the use of classical methods of optimal control synthesis or mathematical programming due to non-convexity region of admissible trajectories of the robots. The proposed approach is based on is the segregation of the desired trajectories of robots in certain areas each of which has no obstacles.
optimal control problem, graph theory, the problem of the shortest path, control of the robot
1. Pontryagin L. S., Boltyanskiy V. G., Gamkrelidze R. V., Mishchenko E. F. Matematicheskaya teoriya optimal'nykh protsessov [Mathematical theory of optimal processes]. Moscow: Nauka, 1983, 393 p. [In Russian]
Дата обновления: 29.01.2021 13:40