View source for Nonlinear Trajectory Generation for the Caltech Multi-Vehicle Wireless Testbed

{{HTDB paper
| authors = Jonathan Chauvin, Laure Sinegre, Richard M. Murray
| title = Nonlinear Trajectory Generation for the Caltech Multi-Vehicle Wireless Testbed
| source = 2003 European Control Conference
| year = 2002
| type =  Conference 
  Paper
| funding = DARPA/SEC
| url = http://www.cds.caltech.edu/~murray/preprints/csm03-ecc.pdf
| abstract = 
The Caltech Multi Vehicles Wireless Testbed (MVWT)
is a platform designed to explore theoritical advances
in multi-vehicle coordination and control, networked
control systems and high con�dence distributed
computation. The contribution of this report is to
present simulation and experimental results on the
generation and implementation of optimal trajectories
for the MVWT vehicles. The vehicles are nonlinear
and spatially contrained with bounded input control.
The trajectories are generated using the NTG software
package developed at Caltech. Minimum time trajectories
and the application of Model Predictive Control (MPC)
are investigated.
can actually follow i.e. trajectories that satisfy every
constraint of the testbed. Those constraints can either
be linear, like the boundaries of the testbed or nonlinear
like the constraints on the input. The main di�erence and
also di�culty in our case is that the system is not linearly
controllable around its equilibrium.
In Section 2 we will give a quick description of the systems
properties and in Section 3 and 4 we will describe the
progression which led us from the optimization problem
to the implementation on the real vehicles. In Section
5 other optimization problems such as minimum time
trajectory generation and model predictive control are
investigated.
| flags = 
| tag = csm03-ecc
| id = 2002r
}}