Evolutionary Algorithms for Optimal Control Problem of Mobile Robots Group Interaction

An optimal control problem of mobile robots group interaction on a plane with hourglass-shaped phase constraints is presented. Hourglass-shaped phase constraints can be represented as checkpoints that must be traversed by any or all of controlled objects. The modern evolutionary algorithms are used for searching the control that provides passage of all checkpoints by all robots of the group in minimum time. In a computational experiment the performance of hybrid evolutionary algorithm for solving this task is considered for mobile robots being launched simultaneously. © 2021, Springer Nature Switzerland AG.