NCS: Real-Time Trajectory Generation: Difference between revisions
No edit summary |
|||
Line 7: | Line 7: | ||
== Reading == | == Reading == | ||
< | * <p>[http://www.cds.caltech.edu/~milam/publications/mmm00-cdc.pdf A New Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems], M. B. Milam, K. Mushambi and R. M. Murray. Conference on Decision and Control, 2000. This is one of the earliest papers on NTG, written by a Caltech PhD student (Milam) and a Caltech undergradaute (Mushambi). This is a good overview paper for the setup that NTG uses.</p> | ||
== 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. --> | <!-- 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. --> |
Revision as of 23:26, 7 April 2006
Prev: Alice Follow | Course Home | Next: RHC |
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
A New Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems, M. B. Milam, K. Mushambi and R. M. Murray. Conference on Decision and Control, 2000. This is one of the earliest papers on NTG, written by a Caltech PhD student (Milam) and a Caltech undergradaute (Mushambi). This is a good overview paper for the setup that NTG uses.