Email this article Synthesis of the open-loop regulator for Dubins' car by anytime genetic algorithm
- Authors: Rogachev G.N1
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Affiliations:
- Samara State Technical University
- Issue: Vol 19, No 3 (2011)
- Pages: 27-32
- Section: Articles
- URL: https://journals.eco-vector.com/1991-8542/article/view/19592
- DOI: https://doi.org/10.14498/tech.2011.3.%25u
- ID: 19592
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Abstract
In article the synthesis of the time-optimal open-loop regulator for Dubins car is considered. In assessing the quality of decisions the total time for the task of transferring the object at a given point is taken into account, including the time for calculating the control program and the time of moving the object to the goal. We consider some options for the numerical determination of the regulator as an imperative model of a system of rules like "condition - action". Advantages of anytime genetic algorithm at the decision of the time-optimal problem for Dubins car are shown.
About the authors
Gennadiy N Rogachev
Samara State Technical University
Email: grogachev@mail.ru
к.т.н., доцент, докторант; Самарский государственный технический университет; Samara State Technical University
References
- Рогачев Г.Н., Егоров В.А. Численно-аналитическая процедура оптимального синтеза гибридных систем // Вестник СамГТУ, сер. Технические науки, 2010. − № 7 (28). − С. 32-36.
- Рогачев Г.Н. Императивные модели регуляторов компьютерных систем управления и их Stateflow-реализация // Сборник трудов V Межд. научной конф. «Проектирование инженерных и научных приложений в среде MATLAB». - Харьков: ФЛП Шейнина Е.В., 2011. - С. 51-67.
- Dubins L.E. On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents // Amer. J. Math. - 1957. - Vol. 79. - PP. 497-516.
- Natarajan S. Imprecise and Approximate Computation. - Kluwer Academic Publishers. - Norwell, MA, USA, 1995, 177 p.
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