NCS: Real-Time Trajectory Generation: Difference between revisions

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== Additional Resources ==
== Additional Resources ==
<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. -->
* <p>[ftp://avalon.caltech.edu/pub/murray/preprints/milam03-phd.pdf Real-Time Optimal Tra jectory Generation for
Constrained Dynamical Systems], M. Milam.  PhD Thesis, 2003.</p>
* <p>[http://www.cds.caltech.edu/~murray/software/2002a_ntg.html NTG software], version 2.2a, 2002.  This is the last publically released version of [[NTG]].  The documentation is a bit sparse, but the examples are heavily commented.</p>

Revision as of 23:29, 7 April 2006

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In this lecture we provide an overview of real-time trajectory generation for nonlinear control systems. Using the concept of differential flatness, we show how to convert the trajectory generation problem from one in optimal control to one of optimization. Efficient numerical methods can then be used to find trajectories that satify the system dynamics and constraints, as well as minimizing a cost function. We concentrate on methods for real-time trajectory generation, and in particular the NTG software package.

Lecture Materials

Reading

Additional Resources

Constrained Dynamical Systems], M. Milam. PhD Thesis, 2003.

  • NTG software, version 2.2a, 2002. This is the last publically released version of NTG. The documentation is a bit sparse, but the examples are heavily commented.