Optimal control synthesis for group of robots by multilayer network operator

摘要

A synthesis of optimal control for a group of robots is considered. Suppose every robot of group has full information about other robots. A two-stage numerical approach for optimal control synthesis is applied. Firstly, the task of stability in a state space for one robot is decided. For this purpose multilayer network operator is used. Secondly, a problem of designing optimal trajectories is considered. Trajectories in a form of set of points in a state space are set. It is necessary to find these points the way that robots could not encounter in the process of movement. Computational experiment is presented for group of three mobile robots are parking at spatial restricts.