Algorithm for the Numerical Solution of Optimal Control Problems in Robotic Systems

P Sorokovikov, A Gornov, A Strelnikov - International Conference on …, 2021 - Springer
P Sorokovikov, A Gornov, A Strelnikov
International Conference on Optimization and Applications, 2021Springer
The paper discusses the algorithm for the numerical solution of applied optimal control
problems in robotics. The proposed algorithm is the Powell method modification, which uses
the combined one-dimensional nonlocal search algorithm developed by the authors based
on the Strongin and parabolas methods as an auxiliary one. The developed algorithm is
implemented in C language and integrated within a single software package. The obtained
using the proposed algorithm solutions of two problems are presented: the problem of the …
Abstract
The paper discusses the algorithm for the numerical solution of applied optimal control problems in robotics. The proposed algorithm is the Powell method modification, which uses the combined one-dimensional nonlocal search algorithm developed by the authors based on the Strongin and parabolas methods as an auxiliary one. The developed algorithm is implemented in C language and integrated within a single software package. The obtained using the proposed algorithm solutions of two problems are presented: the problem of the optimal control of the mobile robot and the task of the industrial robot arm control. All the obtained solutions found a meaningful interpretation.
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