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Introduction
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January 2019 - June 2022
Education
September 2006 - June 2013
Publications
Publications (7)
In this work we study a navigation problem for a nonholonomic differential drive robotoperating in the environment with static and dynamic obstacles. We present a multi-phaseapproach to solve it, which is based on heuristic search to tackle the trajectory planning problemand specific methods of the control theory to solve the path following problem...
A solution of a nonlinear perturbed unconstrained point-to-point control problem, in which the unperturbed system is differentially flat, is considered in the paper. An admissible open-loop control in it is constructed using the covering method. The main part of the obtained admissible control correction in the limit problem is found by expanding t...
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. Second, the path following problem is treated as the constra...
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable of handling any-angle translations and rotations. Second, the path following problem is treated as the constra...
