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 publication2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
Pages766-771
Number of pages6
DOIs
Publication statusPublished - 2011 Oct 17
Event2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 - Budapest, Hungary
Duration: 2011 Jul 32011 Jul 7

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
CountryHungary
CityBudapest
Period11/7/311/7/7

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ASJC Scopus subject areas

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

Cite this

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