Kinodynamic Motion Planning for a System with Squid Dynamics

被引:0
|
作者
Beaver, Logan E. [1 ]
Wei, Cong [1 ]
Yen, Wei-Kuo [2 ]
机构
[1] Old Dominion Univ, Dept Mech & Aerosp Engn, Norfolk, VA 23529 USA
[2] Univ Maryland, MATRIX Lab, California, MD 20619 USA
来源
IFAC PAPERSONLINE | 2024年 / 58卷 / 20期
关键词
Kinetic modeling and control of biologically-inspired systems; Trajectory and path planning; Control of switched systems; Nonlinear and optimal marine system control; Control of constrained systems;
D O I
10.1016/j.ifacol.2024.10.041
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 introduces a path planning algorithm for a system with squid dynamics in a cluttered environment. We capture the complex interactions of fin, arms, and body patterning by analyzing experimental data collected from observing squid motion. We extract nine motion primitives to build the control sequence for a time-optimal trajectory. This task is formulated as a mixed-integer program, and we generate the minimum-time trajectory using a sample-based approach. Numerical simulations illustrate the efficacy of this strategy and motivate ongoing and future efforts to exploration of squid motion features, improvement of the modeling, and experimental demonstrations of the motion planning strategy. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
引用
收藏
页码:115 / 120
页数:6
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