Авторы: Alexey Mashtakov

Название: Extremal Trajectories of a Spherical Robot on Inhomogeneous Surfaces

Аннотация:

We consider a kinematic model of a spherical robot on an inhomogeneous surface. We study a problem of the optimal motion of the robot from a given initial configuration to a given final one. The problem is formulated as the problem of optimal rolling of a sphere on a plane with a given external cost. The external cost describes the landscape and encodes the inhomogeneity of the surface. We apply a necessary optimality condition — Pontryagin maximum principle, and characterize the extremals. Finally, we present an example of the rolling along the extremal trajectory, obtained via an interface developed in Wolfram Mathematica.

Образец цитирования: A. Mashtakov, "Extremal Trajectories of a Spherical Robot on Inhomogeneous Surfaces," 2021 International Conference "Nonlinearity, Information and Robotics" (NIR), 2021, pp. 1-5, doi: 10.1109/NIR52917.2021.9666107.

Конференция: 2021 International Conference "Nonlinearity, Information and Robotics" (NIR)

Место:

Innopolis, Russia

Год: 2021

Страницы: 1-5

Файл: http://control.botik.ru/wp-content/files_mf/1641887824Mashtakov_NIR21.pdf