A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems
Mark B. Milam, Kudah Mushambi, and Richard M. Murray
2000 Conference on Decision and Control
A computational approach to generating aggressive trajectories in real-time for
constrained mechanical systems is presented. The algorithm is based
on a combination of nonlinear control theory, spline theory, and sequential
quadratic programming. It is demonstrated that real-time trajectory
generation for constrained mechanical systems is possible by mapping the
problem to one of finding trajectory curves in a lower dimensional space.
Performance of the algorithm is compared with existing optimal
trajectory generation techniques. Numerical results are reported using the NTG
software package.
Conference Paper (pdf, 190K, 7 pages)
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Richard Murray
(murray@cds. caltech.edu)