Motion optimization using state-dispersion-based phase space partitions

Chyon Hae Kim, Shota Yamazaki, Shigeki Sugano

    Research output: Contribution to journalArticle

    8 Citations (Scopus)

    Abstract

    This paper addresses a phase space partitioning problem in motion planning systems. A class of kinematic and dynamic motion planning systems, including rapid semioptimal motion-planning (RASMO), uses partitions for phase spaces in cumulative optimization criteria. In these systems, a partition results in a uniquely planned motion with a quality that is determined by a selected optimization criterion. In this paper, state-dispersion-based phase space partitioning (SDPP) that generates adaptive partitions is proposed. These partitions allow the motion planning systems to plan better motions. Uniform partitions and adaptively fixed partitions of SDPP are compared under several conditions using RASMO and a double inverted pendulum model while setting the optimality criterion of RASMO to time. The results reveal that RASMO with SDPP plans smaller time motions than those obtained with RASMO using uniform partitions.

    Original languageEnglish
    Pages (from-to)159-173
    Number of pages15
    JournalMultibody System Dynamics
    Volume32
    Issue number2
    DOIs
    Publication statusPublished - 2014

    Fingerprint

    Motion Planning
    Motion planning
    Phase Space
    Partition
    Motion
    Optimization
    Partitioning
    Inverted Pendulum
    Optimality Criteria
    Pendulums
    Kinematics

    Keywords

    • Dynamics
    • Inverted pendulum
    • Motion planning
    • Optimization
    • Partitioning

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Aerospace Engineering
    • Computer Science Applications
    • Control and Optimization
    • Modelling and Simulation

    Cite this

    Motion optimization using state-dispersion-based phase space partitions. / Kim, Chyon Hae; Yamazaki, Shota; Sugano, Shigeki.

    In: Multibody System Dynamics, Vol. 32, No. 2, 2014, p. 159-173.

    Research output: Contribution to journalArticle

    Kim, Chyon Hae ; Yamazaki, Shota ; Sugano, Shigeki. / Motion optimization using state-dispersion-based phase space partitions. In: Multibody System Dynamics. 2014 ; Vol. 32, No. 2. pp. 159-173.
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