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A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems
Abstract A computational approach to generating agg …
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.
reported using the NTG software package.  +
Authors Mark B. Milam, Kudah Mushambi, and Richard M. Murray  +
ID 2000f  +
Source 2000 Conference on Decision and Control  +
Tag mmm00-cdc  +
Title A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:19:26  +
URL
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http://www.cds.caltech.edu/~murray/preprints/mmm00-cdc.pdf  +
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A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems + Title
 

 

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