Fast Trajectory Planning Via the B-Spline Augmented Virtual Motion Camouflage Approach

    Authors

    G. Basset; Y. J. Xu;N. Li

    Comments

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    Abbreviated Journal Title

    J. Dyn. Syst. Meas. Control-Trans. ASME

    Keywords

    nonlinear constrained optimal trajectory planning; virtual motion; camouflage; B-spline; PSEUDOSPECTRAL METHOD; COSTATE ESTIMATION; OPTIMIZATION; CONVERGENCE; COLLOCATION; CONSTRAINTS; SYSTEMS; Automation & Control Systems; Instruments & Instrumentation

    Abstract

    The recently developed bio-inspired virtual motion camouflage (VMC) method can be used to rapidly solve nonlinear constrained optimal trajectory problems. However, the optimality of VMC solution is affected by the dimension reduced search space. Compared with the VMC method, the B-spline augmented VMC (BVMC) method studied in this paper improves the optimality of the solution, while the computational cost will not be significantly increased. Two simulation examples, the Snell's river problem and a robotic minimum time obstacle avoidance problem, are used to show the advantages of the algorithm.

    Journal Title

    Journal of Dynamic Systems Measurement and Control-Transactions of the Asme

    Volume

    135

    Issue/Number

    5

    Publication Date

    1-1-2013

    Document Type

    Article

    Language

    English

    First Page

    6

    WOS Identifier

    WOS:000326090400024

    ISSN

    0022-0434

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