Rapid approximation for optimal paths in phase space

Chyon Hae Kim, Hiroshi Tsujino, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper addresses optimal motion for general machines. Approximation for optimal motion needs a global path planning algorithm that precisely calculates the whole dynamics of a machine in a brief calculation. We propose a path planning algorithm that is composed of a path searching algorithm and a pruning algorithm. The pruning algorithm is based on our analysis for the resemblances of states. To confirm the precision, calculation cost, optimality, and applicability of the proposed algorithm, we conducted several shortest time path planning examinations for the dynamic models of double inverted pendulums. The precision to reach the goal state of the pendulums was better than other algorithms. The calculation was at least 58 times faster. There was a positive correlation between the optimality and the resolutions of the proposed algorithm. As a result of torque based feedback control simulation, we confirmed applicability of the proposed algorithm under noisy situation.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Pages766-771
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 - Budapest
    Duration: 2011 Jul 32011 Jul 7

    Other

    Other2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
    CityBudapest
    Period11/7/311/7/7

    Fingerprint

    Motion planning
    Pendulums
    Feedback control
    Dynamic models
    Torque
    Costs

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Kim, C. H., Tsujino, H., & Sugano, S. (2011). Rapid approximation for optimal paths in phase space. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 766-771). [6026991] https://doi.org/10.1109/AIM.2011.6026991

    Rapid approximation for optimal paths in phase space. / Kim, Chyon Hae; Tsujino, Hiroshi; Sugano, Shigeki.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2011. p. 766-771 6026991.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Kim, CH, Tsujino, H & Sugano, S 2011, Rapid approximation for optimal paths in phase space. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 6026991, pp. 766-771, 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011, Budapest, 11/7/3. https://doi.org/10.1109/AIM.2011.6026991
    Kim CH, Tsujino H, Sugano S. Rapid approximation for optimal paths in phase space. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2011. p. 766-771. 6026991 https://doi.org/10.1109/AIM.2011.6026991
    Kim, Chyon Hae ; Tsujino, Hiroshi ; Sugano, Shigeki. / Rapid approximation for optimal paths in phase space. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2011. pp. 766-771
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