TRAJECTORY OPTIMIZATION FOR NONHOLONOMIC VEHICLES ON NON-FLAT TERRAINS USING SHOOTING AND COLLOCATION METHODS

被引：0
|
作者：
Chatzigeorgiou, Dimitris M. [1 ]
机构：
[1] MIT, Dept Mech Engn, Mechatron Res Lab, Cambridge, MA 02139 USA
来源：
ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL 2 | 2013年
关键词：
Trajectory optimization; optimal control; nonholonomic vehicles; shooting method; collocation method;
D O I：
10.1115/DSCC2013-4051
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we focus on the trajectory optimization problem for a specific family of robots; nonholonomic mobile robots. We study the particular case where such robots operate on smooth, non-flat terrains, i.e. terrains with large differences in elevation. Initially we present the governing equations of such robots and then study the trajectory optimization problem in order to solve for the optimal control policy. We test two different approaches for this problem, namely a shooting and a collocation method, for evaluating and optimizing a performance index.
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页数：9
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