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Keywords: collocation method
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Proceedings Papers

Trajectory Optimization for Nonholonomic Vehicles on Non-Flat Terrains Using Shooting and Collocation Methods

Dimitris M. Chatzigeorgiou
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T33A006, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4051
https://doi.org/10.1115/DSCC2013-4051
... equations of such robots and then study the trajectory optimization problem in order to solve for the optimal control policy. We test two different approaches for this problem, namely a shooting and a collocation method, for evaluating and optimizing a performance index. Trajectory optimization...
View Paper titled, Trajectory Optimization for Nonholonomic Vehicles on Non-Flat Terrains Using Shooting and <span class="search-highlight">Collocation</span> <span class="search-highlight">Methods</span>
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Topics: Optimal control, Optimization, Trajectories (Physics), Vehicles