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Avtomatika i Telemekhanika, 2022, Issue 7, Pages 3–32
DOI: https://doi.org/10.31857/S0005231022070017 (Mi at15996) 		 
This article is cited in 1 scientific paper (total 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
Full-text PDF (529 kB) First page Citations (1)
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DOI: https://doi.org/10.31857/S0005231022070017
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.
Funding agency Grant number
Russian Foundation for Basic Research
The work by P.V. Lysenko was supported in part by the Russian Foundation for Basic Research, project no. 20-38-90215.
Presented by the member of Editorial Board: M. V. Khlebnikov

Received: 07.02.2022
Revised: 17.03.2022
Accepted: 31.03.2022
English version:
Automation and Remote Control, 2022, Volume 83, Issue 7, Pages 1011–1035
DOI: https://doi.org/10.1134/S0005117922070013
Bibliographic databases:
Document Type: Article
Language: Russian
Citation: A. A. Galyaev, P. V. Lysenko, V. P. Yakhno, “Two optimal path planning problems for a moving object in the case of degeneration of necessary extremum conditions”, Avtomat. i Telemekh., 2022, no. 7, 3–32; Autom. Remote Control, 83:7 (2022), 1011–1035
Citation in format AMSBIB
\Bibitem{GalLysYah22}
\by A.~A.~Galyaev, P.~V.~Lysenko, V.~P.~Yakhno
\paper Two optimal path planning problems for a moving object in the case of degeneration of necessary extremum conditions
\jour Avtomat. i Telemekh.
\yr 2022
\issue 7
\pages 3--32
\mathnet{http://mi.mathnet.ru/at15996}
\crossref{https://doi.org/10.31857/S0005231022070017}
\edn{https://elibrary.ru/ADLKXD}
\transl
\jour Autom. Remote Control
\yr 2022
\vol 83
\issue 7
\pages 1011--1035
\crossref{https://doi.org/10.1134/S0005117922070013}
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    • This publication is cited in the following 1 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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    References:22
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