Time optimal control for a mobile robot with a communication objective

Jérôme Lohéac, Vineeth Satheeskumar Varma and Irinel Constantin Morărescu

Mathematics and Computers in Simulation (MATCOM), 2022, vol. 201, issue C, 96-120

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.

Keywords: Time optimal control; Wireless communication; Pontryagin maximum principle (search for similar items in EconPapers)
Date: 2022
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Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:201:y:2022:i:c:p:96-120

DOI: 10.1016/j.matcom.2022.05.013

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