Journal
MATHEMATICS AND COMPUTERS IN SIMULATION
Volume 201, Issue -, Pages 96-120Publisher
ELSEVIER
DOI: 10.1016/j.matcom.2022.05.013
Keywords
Time optimal control; Wireless communication; Pontryagin maximum principle
Categories
Funding
- ANR project TRECOS [ANR-20-CE40-0009-01]
- ANR project NICETWEET [ANR-20-CE48-0009]
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This paper proposes control design strategies to minimize the time required by a mobile robot to accomplish a certain task while transmitting/receiving a message. It first designs a minimal-time control for simplified robot dynamics using the Pontryagin maximum principle, and then demonstrates how these results can be used to efficiently control more complicated non-holonomic dynamics.
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.(c) 2022 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.
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