Abstract
In this article, we consider the time-optimal motion control of a tracked mobile robot in the presence of state constraints. The complexity of the problem statement is due to a steady vector flow field in which the motion is takes place. The difficulty of the considered model is also compounded with the non-regularity of the dynamics with respect to the state constraints. A method for regularisation is proposed. Such a method involves a certain construction of a regular (in the needed sense) ε-perturbation of the original problem.
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