Regular approximations of time-optimal motion for a tracked mobile robot travelling in a vector flow field under restricted state variables

The time-optimal motion for a tracked mobile robot in the presence of state constraints and a vector flow field is examined. The difficulty of the considered model is due to non-regularity of the dynamics with respect to the state constraints. A certain method for regularisation is proposed, which uses specific ε-approximations to the original problem, regular in the sense formulated below. The results of the numerical experiment are presented.