Optimal Control Problem Solution with Phase Constraints for Group of Robots by Pontryagin Maximum Principle and Evolutionary Algorithm
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F20%3A10247256" target="_blank" >RIV/61989100:27240/20:10247256 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/2227-7390/8/12/2105/htm" target="_blank" >https://www.mdpi.com/2227-7390/8/12/2105/htm</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/math8122105" target="_blank" >10.3390/math8122105</a>
Alternative languages
Result language
angličtina
Original language name
Optimal Control Problem Solution with Phase Constraints for Group of Robots by Pontryagin Maximum Principle and Evolutionary Algorithm
Original language description
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 functional in the form of smooth penalty functions. Additional parameters for special control modes and the terminal time of the control process were introduced. The search for additional parameters and the initial conditions for the conjugate variables was performed by the modified self-organizing migrating algorithm. An example of using this approach to solve the optimal control problem for the oncoming movement of two mobile robots is given. Simulation and comparison with direct approach showed that the problem is multimodal, and it approves application of the evolutionary algorithm for its solution.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10200 - Computer and information sciences
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Mathematics
ISSN
2227-7390
e-ISSN
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Volume of the periodical
8
Issue of the periodical within the volume
12
Country of publishing house
CH - SWITZERLAND
Number of pages
18
Pages from-to
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UT code for WoS article
000602180800001
EID of the result in the Scopus database
2-s2.0-85097293781