Complete Binary Variational Analytic Programming for Synthesis of Control at Dynamic Constraints

Dynamic constraints arise at control of the robot moving in the neighborhood of other robots. In this case, together with ensuring stability of the robot in a goal point it is necessary to provide instability for the robot in the area of state space where is some other robot. For the solution of this task, we use a new method of symbolic regression - a method of binary variational analytical programming. The new method has advantages in comparison with genetic or analytical programming in case of performing crossover, and it uses the principle of small variations of the basic solution to increase the efficiency of an algorithm of search of the optimal solution.