Rapid approximation for optimal paths in phase space

Chyon Hae Kim, Hiroshi Tsujino, Shigeki Sugano

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトル2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
ページ766-771
ページ数6
DOI
出版物ステータスPublished - 2011 10 17
イベント2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 - Budapest, Hungary
継続期間: 2011 7 32011 7 7

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
Hungary
Budapest
期間11/7/311/7/7

ASJC Scopus subject areas

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

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  • これを引用

    Kim, C. H., Tsujino, H., & Sugano, S. (2011). Rapid approximation for optimal paths in phase space. : 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