Optimal control using nonholonomic integrators

被引：13
|
作者：
Kobilarov, Marin [1 ]
Sukhatme, Gaurav [1 ]
机构：
[1] Univ Southern Calif, Robot Embedded Syst Lab, Los Angeles, CA 90089 USA
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363588
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the optimal control of nonholonomic systems through provably correct discretization of the system dynamics. The essence of the approach lies in the discretization of the Lagrange-d' Alembert principle which results in a set of forced discrete Euler-Lagrange equations and discrete nonholonomic constraints that serve as equality constraints for the optimization of a given cost functional. The method is used to investigate optimal trajectories of wheeled robots.
引用
收藏
页码：1832 / +
页数：2
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