Title
Fast Trajectory Planning Via the B-Spline Augmented Virtual Motion Camouflage Approach
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
DOI Link
Language
English
First Page
6
WOS Identifier
ISSN
0022-0434
Recommended Citation
"Fast Trajectory Planning Via the B-Spline Augmented Virtual Motion Camouflage Approach" (2013). Faculty Bibliography 2010s. 3668.
https://stars.library.ucf.edu/facultybib2010/3668
Comments
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