IDEAS home Printed from https://ideas.repec.org/a/eee/matcom/v201y2022icp96-120.html
   My bibliography  Save this article

Time optimal control for a mobile robot with a communication objective

Author

Listed:
  • Lohéac, Jérôme
  • Varma, Vineeth Satheeskumar
  • Morărescu, Irinel Constantin

Abstract

The paper proposes control design strategies that minimize the time required by a mobile robot to accomplish a certain task (reach a target) while transmitting/receiving a message. The message delivery is done over a wireless network, and we account for path-loss while disregarding any shadowing phenomena, i.e., the transmission rate depends only on the distance to the wireless antenna. First, using the Pontryagin maximum principle we design a minimal-time control for the simplified robot dynamics described by a single integrator. Next, we show how we can use these theoretical results to efficiently control more complicated non-holonomic dynamics. Numerical simulations illustrate the effectiveness of the theoretical results.

Suggested Citation

  • Lohéac, Jérôme & Varma, Vineeth Satheeskumar & Morărescu, Irinel Constantin, 2022. "Time optimal control for a mobile robot with a communication objective," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 201(C), pages 96-120.
    • Handle: RePEc:eee:matcom:v:201:y:2022:i:c:p:96-120
    DOI: 10.1016/j.matcom.2022.05.013
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0378475422002014
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.matcom.2022.05.013?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. A. V. Arutyunov & D. Y. Karamzin & F. L. Pereira, 2011. "The Maximum Principle for Optimal Control Problems with State Constraints by R.V. Gamkrelidze: Revisited," Journal of Optimization Theory and Applications, Springer, vol. 149(3), pages 474-493, June.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Dmitry Karamzin, 2018. "Comments on Paper “On the Relation Between Two Approaches to Necessary Optimality Conditions in Problems with State Constraints”," Journal of Optimization Theory and Applications, Springer, vol. 179(1), pages 358-362, October.
    2. Dmitry Karamzin & Fernando Lobo Pereira, 2019. "On a Few Questions Regarding the Study of State-Constrained Problems in Optimal Control," Journal of Optimization Theory and Applications, Springer, vol. 180(1), pages 235-255, January.
    3. Aram Arutyunov & Dmitry Karamzin, 2020. "A Survey on Regularity Conditions for State-Constrained Optimal Control Problems and the Non-degenerate Maximum Principle," Journal of Optimization Theory and Applications, Springer, vol. 184(3), pages 697-723, March.
    4. Adam Korytowski & Maciej Szymkat, 2021. "Necessary Optimality Conditions for a Class of Control Problems with State Constraint," Games, MDPI, vol. 12(1), pages 1-22, January.
    5. Fernando Lobo Pereira & Nathalie T. Khalil, 2022. "A Maximum Principle for a Time-Optimal Bilevel Sweeping Control Problem," Journal of Optimization Theory and Applications, Springer, vol. 192(3), pages 1022-1051, March.
    6. A. V. Arutyunov & D. Yu. Karamzin & F. L. Pereira, 2015. "State Constraints in Impulsive Control Problems: Gamkrelidze-Like Conditions of Optimality," Journal of Optimization Theory and Applications, Springer, vol. 166(2), pages 440-459, August.
    7. Andrei Dmitruk & Ivan Samylovskiy, 2017. "On the Relation Between Two Approaches to Necessary Optimality Conditions in Problems with State Constraints," Journal of Optimization Theory and Applications, Springer, vol. 173(2), pages 391-420, May.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:matcom:v:201:y:2022:i:c:p:96-120. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Catherine Liu (email available below). General contact details of provider: http://www.journals.elsevier.com/mathematics-and-computers-in-simulation/ .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.