A New Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems (2000)
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BibTeX
@MISC{Milam00anew,
author = {Mark B. Milam and Kudah Mushambi and Richard M. Murray},
title = {A New Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems},
year = {2000}
}
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Abstract
Preliminary results of a new computational approach to generate aggressive trajectories in real-time for constrained mechanical systems are presented. The algorithm is based on a combination of nonlinear control theory, spline theory, and sequential quadratic programming. It is demonstrated that real-time trajectory generation for constrained mechanical systems is possible by mapping the problem to one of finding trajectory curves in a lower dimensional space. Performance of the algorithm is compared with existing optimal trajectory generation techniques. Numerical results are reported using the NTG software package. Keywords: Real-time optimization, nonlinear control design, optimal control, constrained trajectory generation, guidance. 1
