This article is cited in 1 paper

Nonlinear Systems

Two optimal path planning problems for a moving object in the case of degeneration of necessary extremum conditions

A. A. Galyaev, P. V. Lysenko, V. P. Yakhno

Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, 117997 Russia

Abstract: The path planning problem for a controlled moving object with a nonuniform radiation pattern is considered for the case in which the necessary path optimality conditions are degenerate. Additional constraints are introduced, and two optimization problems are formalized, one of finding an optimal speed mode for a given path of the object and the other of finding an optimal path when moving at a constant speed. Methods and algorithms for constructing optimal paths and finding speed modes are proposed; for the second problem, the analytical domain of existence of a solution for arbitrary parameters is found. The analytical results are illustrated with examples.

Keywords: path planning, necessary extremum condition, radiation pattern.

Presented by the member of Editorial Board: M. V. Khlebnikov

Received: 07.02.2022
Revised: 17.03.2022
Accepted: 31.03.2022

DOI: 10.31857/S0005231022070017

 English version: Automation and Remote Control, 2022, 83:7, 1011–1035