1. Tree Based Trajectory Optimization Based on Local Linearity of Continuous Non-Linear Dynamics
- Author
-
Shigeki Sugano and Chyon Hae Kim
- Subjects
0209 industrial biotechnology ,Mathematical optimization ,Approximation algorithm ,Linear prediction ,02 engineering and technology ,Trajectory optimization ,Optimal control ,Computer Science Applications ,Computer Science::Robotics ,Nonlinear system ,Kinodynamic planning ,020901 industrial engineering & automation ,Control and Systems Engineering ,Control theory ,0202 electrical engineering, electronic engineering, information engineering ,Trajectory ,020201 artificial intelligence & image processing ,Motion planning ,Electrical and Electronic Engineering ,Mathematics - Abstract
This technical note addresses a tradeoff in the tree based trajectory optimization algorithms for open-loop optimal control problem of rigid body system. In this technical note, linear prediction based uniform state sampling method (LPUSS), which relaxes the tradeoff between solutions' quality and computational efficiency, is proposed on the basis of the local linearity of motion equations. LPUSS has a lower calculation order than randomized kinodynamic planning (RKP) and rapid semi-optimal motion planning (RASMO). In the validation using multi degree-of-freedom (DOF) under actuated manipulator models, the solutions' quality and the computational efficiency of LPUSS were better than those of RKP and RASMO. LPUSS finished the optimization for the 6 DOF model within 40 minutes. This was the world's first success of the optimization of the swing up motion of a 6 DOF under actuated manipulator model.
- Published
- 2016