Страница публикации

Algorithm for the Numerical Solution of Optimal Control Problems in Robotic Systems

Тип публикации: Статья в журнале

Тип материала: Текст

Авторы: Sorokovikov P., Gornov A., Strelnikov A.

Журнал: Lecture Notes in Computer Science: 12th International Conference Optimization and Applications (OPTIMA 2021, Petrovac, Montenegro, September 27 – October 1, 2021)

Язык публикации: english

Серия книг: Lecture Notes in Computer Science

Том: 13078

Номера страниц: 203-214

Количество страниц: 12

Год публикации: 2021

Отчетный год: 2021

DOI: 10.1007/978-3-030-91059-4_15

Аннотация: The paper discusses the algorithm for the numerical solution of applied optimal control problems in robotics. The proposed algorithm is the Powell method modification, which uses the combined one-dimensional nonlocal search algorithm developed by the authors based on the Strongin and parabolas methods as an auxiliary one. The developed algorithm is implemented in C language and integrated within a single software package. The obtained using the proposed algorithm solutions of two problems are presented: the problem of the optimal control of the mobile robot and the task of the industrial robot arm control. All the obtained solutions found a meaningful interpretation.

Индексируется WOS: Q4

Индексируется Scopus: Нет

Индексируется УБС: Нет

Индексируется РИНЦ: Да

Индексируется ВАК: Нет

Индексируется CORE: Нет