Informatics and Applications
2026, Volume 20, Issue 1, pp 19-29
THE TIME-OPTIMAL PROBLEM FORA SWITCHED MODEL OF A CONTROL PLANT ON A PLANAR ROUTE
- A. S. Bortakovskii
- I. V. Uryupin
Abstract
The paper addresses the time-optimal control problem for a mobile object moving along a prescribed planar route. The route is defined as a continuous curve composed of standard segments (straight lines, circular arcs, etc.) and may contain nonsmooth junctions at angular points. During motion, the control system model undergoes changes (switches) due to differences in the equations of motion across distinct segment types. General constraints across the entire time-optimal problem include limits on linear velocity, linear acceleration, and angular velocity during turns. Due to these switches, the problem cannot be reduced to a classical time-optimal control formulation. A solution to the stated problem is derived in the article. The optimal control along the entire route is achieved through optimal traversal of all its standard segments. This requires maximizing the magnitude of linear velocity on each segment of bounded curvature and maximizing the magnitude of angular velocity during on-the-spot turns at angular points. The effectiveness of the proposed approach is validated through numerical simulations.
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[+] About this article
Title
THE TIME-OPTIMAL PROBLEM FORA SWITCHED MODEL OF A CONTROL PLANT ON A PLANAR ROUTE
Journal
Informatics and Applications
2026, Volume 20, Issue 1, pp 19-29
Cover Date
2026-01-04
DOI
10.14357/19922264260103
Print ISSN
1992-2264
Publisher
Institute of Informatics Problems, Russian Academy of Sciences
Additional Links
Key words
switchable model; time-optimal problem; planar motion
Authors
A. S. Bortakovskii  ,  and I. V. Uryupin 
Author Affiliations
Moscow Aviation Institute (National Research University), 4 Volokolamskoe Shosse, Moscow 125933, Russian Federation
National University of Science and Technology "MISIS," 4 bld. 1 Leninskiy Prosp., Moscow 119049, Russian Federation
Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences, 44-2 Vavilov Str., Moscow 119333, Russian Federation
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