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Time optimal control for a mobile robot with a communication objective

Author

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  • 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
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    References listed on IDEAS

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    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.
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