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.
Fast Trajectory Planning Via the B-Spline Augmented Virtual Motion Camouflage Approach
University of Central Florida,
Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received June 20, 2011; final manuscript received September 24, 2012; published online July 19, 2013. Assoc. Editor: Qingze Zou.
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Basset, G., Xu, Y., and Li, N. (July 19, 2013). "Fast Trajectory Planning Via the B-Spline Augmented Virtual Motion Camouflage Approach." ASME. J. Dyn. Sys., Meas., Control. September 2013; 135(5): 054505. https://doi.org/10.1115/1.4024601
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