Abstract
An optimal control problem of mobile robots group interaction on a plane with hourglass-shaped phase constraints is presented. Hourglass-shaped phase constraints can be represented as checkpoints that must be traversed by any or all of controlled objects. The modern evolutionary algorithms are used for searching the control that provides passage of all checkpoints by all robots of the group in minimum time. In a computational experiment the performance of hybrid evolutionary algorithm for solving this task is considered for mobile robots being launched simultaneously.
The research was supported by the Russian Science Foundation (project No 19-11-00258).
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Konstantinov, S., Diveev, A. (2021). Evolutionary Algorithms for Optimal Control Problem of Mobile Robots Group Interaction. In: Olenev, N.N., Evtushenko, Y.G., Jaćimović, M., Khachay, M., Malkova, V. (eds) Advances in Optimization and Applications. OPTIMA 2021. Communications in Computer and Information Science, vol 1514. Springer, Cham. https://doi.org/10.1007/978-3-030-92711-0_9
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