NDLI: Optimal Path Following for Differentially Flat Robotic Systems Through a Geometric Problem Formulation

Content Provider	IEEE Xplore Digital Library
Author	Van Loock, W. Pipeleers, G. Diehl, M. De Schutter, J. Swevers, J.
Copyright Year	2004
Abstract	Path following deals with the problem of following a geometric path with no predefined timing information and constitutes an important step in solving the motion-planning problem. For differentially flat systems, it has been shown that the projection of the dynamics along the geometric path onto a linear single-input system leads to a small dimensional optimal control problem. Although the projection simplifies the problem to great extent, the resulting problem remains difficult to solve, in particular in the case of nonlinear system dynamics and time-optimal problems. This paper proposes a nonlinear change of variables, using a time transformation, to arrive at a fixed end-time optimal control problem. Numerical simulations on a robotic manipulator and a quadrotor reveal that the proposed problem formulation is solved efficiently without requiring an accurate initial guess.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	980
Ending Page	985
Page Count	6
File Size	429165
File Format	PDF
ISSN	15523098
Volume Number	30
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimization Optimal control Manipulators Joints Robot kinematics Convergence optimal control Differential flatness nonholonomic motion planning
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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Optimal Path Following for Differentially Flat Robotic Systems Through a Geometric Problem Formulation

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