Title

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

Keywords

B-spline; Nonlinear constrained optimal trajectory planning; Virtual motion camouflage

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. © 2013 by ASME.

Publication Date

10-30-2013

Publication Title

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volume

135

Issue

5

Number of Pages

-

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1115/1.4024601

Socpus ID

84886415289 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84886415289

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