Optimal Control Problem Solution with Phase Constraints for Group of Robots by Pontryagin Maximum Principle and Evolutionary Algorithm
A numerical method based on the Pontryagin maximum principle for solving an optimal control problem with static and dynamic phase constraints for a group of objects is considered. Dynamic phase constraints are introduced to avoid collisions between objects. Phase constraints are included in the func...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-11-01
|
| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/8/12/2105 |