A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems

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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.