Optimality Conditions for the Principle of Trajectory Division

[摘要] This paper considers the problem of controlling a mobile robot in the presence of circular obstacles. To solve this problem, it is proposed to use the previously suggested principle of dividing permissible trajectories into a sequence of rectilinear sections and arcs of circles that are the boundaries of circular obstacles. The conditions for the solution based on this principle of optimality are obtained.

[关键词] controlling a mobile robot;principle of dividing the feasible trajectory;optimality conditions