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
相关论文
共 50 条
  • [41] Motion Planning of a UAV Using a Kinodynamic Motion Planning Method
    Motonaka, Kimiko
    Watanabe, Keigo
    Maeyama, Shoichi
    39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013), 2013, : 6383 - 6387
  • [42] Kinodynamic Motion Planning for Robotics: A Review
    Zhang, Jun
    2021 5TH INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION SCIENCES (ICRAS 2021), 2021, : 75 - 83
  • [43] Kinodynamic Motion Planning for Autonomous Vehicles
    Choi, Jiwung
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2014, 11
  • [44] Kinodynamic Motion Planning with Hardware Demonstrations
    Sucan, Ioan A.
    Kruse, Jonathan F.
    Yim, Mark
    Kavraki, Lydia E.
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008, : 1661 - +
  • [45] Optimal Kinodynamic Motion Planning using Incremental Sampling-based Methods
    Karaman, Sertac
    Frazzoli, Emilio
    49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2010, : 7681 - 7687
  • [46] A Parametric Study of a Deep Reinforcement Learning Control System Applied to the Swing-Up Problem of the Cart-Pole
    Manrique Escobar, Camilo Andres
    Pappalardo, Carmine Maria
    Guida, Domenico
    APPLIED SCIENCES-BASEL, 2020, 10 (24): : 1 - 19
  • [47] Kinodynamic Motion Planning with State Lattice Motion Primitives
    Pivtoraiko, Mihail
    Kelly, Alonzo
    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011,
  • [48] Kinodynamic RRT* Based UAV Optimal State Motion Planning with Collision Risk Awareness
    Yin, Haolin
    Li, Baoquan
    Zhu, Hai
    Shi, Lintao
    INFORMATION TECHNOLOGY AND CONTROL, 2023, 52 (03): : 665 - 679
  • [49] ASYMPTOTICALLY OPTIMAL KINODYNAMIC MOTION PLANNING FOR A CLASS OF MODULAR SELF-RECONFIGURABLE ROBOTS
    Reif, John
    Slee, Sam
    INTERNATIONAL JOURNAL OF COMPUTATIONAL GEOMETRY & APPLICATIONS, 2011, 21 (02) : 131 - 155
  • [50] A Robust Output-Feedback Control for the Cart-Pole System: A Super-Twisting Sliding-Mode approach
    Ovalle, Luis
    Rios, Hector
    Llama, Miguel
    2018 XX CONGRESO MEXICANO DE ROBOTICA (COMROB), 2018,
12345