Rapid short-time path planning for phase space

Chyon Hae Kim, Hiroshi Tsujino, Shigeki Sugano

    Research output: Contribution to journalArticle

    15 Citations (Scopus)

    Abstract

    This paper addresses optimal motion for general machines. Approximation for optimal motion requires 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 consists of path searching and pruning algorithms. The pruning algorithmis based on our analysis of state resemblance in general phase space. To confirm precision, calculation cost, optimality and applicability of the proposed algorithm, we conducted several shortest time path planning experiments for the dynamic models of double inverted pendulums. Precision to reach the goal states of the pendulums was better than other algorithms. Calculation cost was 58 times faster at least. We could tune optimality of proposed algorithm via resolution parameters. A positive correlation between optimality and resolutions was confirmed. Applicability was confirmed in a torque based position and velocity feedback control simulation. As a result of this simulation, the double inverted pendulums tracked planned motion under noise while keeping within torque limitations.

    Original languageEnglish
    Pages (from-to)271-280
    Number of pages10
    JournalJournal of Robotics and Mechatronics
    Volume23
    Issue number2
    Publication statusPublished - 2011 Apr

    Fingerprint

    Motion planning
    Pendulums
    Torque
    Velocity control
    Feedback control
    Costs
    Dynamic models
    Experiments

    Keywords

    • Motion planning
    • Optimization
    • Phase space
    • Search tree
    • Short time motion

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Computer Science(all)

    Cite this

    Rapid short-time path planning for phase space. / Kim, Chyon Hae; Tsujino, Hiroshi; Sugano, Shigeki.

    In: Journal of Robotics and Mechatronics, Vol. 23, No. 2, 04.2011, p. 271-280.

    Research output: Contribution to journalArticle

    Kim, Chyon Hae ; Tsujino, Hiroshi ; Sugano, Shigeki. / Rapid short-time path planning for phase space. In: Journal of Robotics and Mechatronics. 2011 ; Vol. 23, No. 2. pp. 271-280.
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