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Optimal velocity planning based on the solution of the Euler-Lagrange equations with a neural network based velocity regression.
- Source :
- Discrete & Continuous Dynamical Systems - Series S; Jul2024, Vol. 17 Issue 7, p1-11, 11p
- Publication Year :
- 2024
-
Abstract
- Trajectory optimization is a complex process that includes an infinite number of possibilities and combinations. This work focuses on a particular aspect of the trajectory optimization, related to the optimization of a velocity along a predefined path, with the aim of minimizing power consumption. To tackle the problem, a functional formulation and minimization strategy is developed, by means of the Euler-Lagrange equation. The minimization is later performed using a neural network approach. The strategy is deemed Lagrange-Net, as it is based on the minimization of the energy functional, by the means of Lagrange's equation and neural network approximations. [ABSTRACT FROM AUTHOR]
- Subjects :
- LAGRANGE equations
TRAJECTORY optimization
VELOCITY
EULER-Lagrange equations
Subjects
Details
- Language :
- English
- ISSN :
- 19371632
- Volume :
- 17
- Issue :
- 7
- Database :
- Complementary Index
- Journal :
- Discrete & Continuous Dynamical Systems - Series S
- Publication Type :
- Academic Journal
- Accession number :
- 177658474
- Full Text :
- https://doi.org/10.3934/dcdss.2023080