Optimal Solution of Kinodynamic Motion Planning for the Cart-Pole System

被引：0
|
作者：
Boriero, Fabrizio [1 ]
Sansonetto, Nicola [1 ]
Marigonda, Antonio [1 ]
Muradore, Riccardo [1 ]
Fiorini, Paolo [1 ]
机构：
[1] Univ Verona, Dept Comp Sci, Str Grazie 15, I-37141 Verona, VR, Italy
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
Optimal trajectory; trajectory planning; geometric control theory; autonomous; mobile robots; robotics;
D O I：
10.1016/j.ifacol.2017.08.895
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The aim of this work is motion planning for a class of underactuated mechanical systems. To illustrate the theory, we introduce and investigate, from a geometric and numerical point of view, the solution of kinodynamic planning for the cart pole. More precisely, given an initial condition for the configuration of the cart pole, we want to plan an optimal trajectory making the inverted pendulum on the cart to avoid an obstacle during its motion, and to attain a prescribed final configuration. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：6308 / 6313
页数：6
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