Optimal Control Problem Solution with Phase Constraints for Group of Robots by Pontryagin Maximum Principle and Evolutionary Algorithm

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...

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Bibliographic Details
Main Authors: Askhat Diveev, Elena Sofronova, Ivan Zelinka
Format: Article
Language:English
Published: MDPI AG 2020-11-01
Series:Mathematics
Subjects:
optimal control problem
evolutionary computation
robotics applications
Online Access:https://www.mdpi.com/2227-7390/8/12/2105

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