NCS: Real-Time Trajectory Generation

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

• Lecture: Nonlinear Trajectory Generation