A Computational Approach for Near-Optimal Path Planning and Guidance for Systems with Nonholonomic Contraints

Abstract

A computational approach is developed for optimal path planning for constrained nonlinear dynamical systems. In the approach developed here, the continuous-time optimal control problem is transcribed to a finite-dimensional nonlinear programming problem. In this research, we develop novel methods for discretization based on Legendre-Gauss and Legendre-Gauss-Radau quadrature points. Using this approach, the finite-dimensional approximation is kept low-dimensional, potentially enabling near real time or real time solutions. The approach is demonstrated on sample problems and is found to be a highly accurate and computationally efficient way to discretize constrained nonlinear optimal control problems.

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Document Details

Document Type
Technical Report
Publication Date
Apr 14, 2010
Accession Number
ADA520675

Entities

People

  • Anil V. Rao
  • William Ward Hager

Organizations

  • University of Florida

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Boundary Value Problems
  • Calculus Of Variations
  • Computational Science
  • Department Of Defense
  • Differential Equations
  • Differential Geometry
  • Engineering
  • Geometry
  • Ground Vehicles
  • Guidance
  • Mathematical Programming
  • Mathematics
  • Motion Planning
  • Nonlinear Differential Equations
  • Optimization
  • Students

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.