View source for A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems

{{HTDB paper
| authors = Mark B. Milam, Kudah Mushambi, and Richard M. Murray
| title = A Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems
| source = 2000 Conference on Decision and Control
| year = 2000
| type = 
Conference Paper
| funding = AFOSR, DARPA
| url = http://www.cds.caltech.edu/~murray/preprints/mmm00-cdc.pdf
| abstract = 
A computational approach to generating aggressive trajectories in real-time for 
constrained mechanical systems is presented.  The algorithm is based 
on a combination of nonlinear control theory, spline theory, and sequential 
quadratic programming. It is demonstrated that real-time trajectory 
generation for constrained mechanical systems is possible by mapping the
problem to one of finding trajectory curves in a lower dimensional space. 
Performance of the algorithm is compared with existing optimal 
trajectory generation techniques. Numerical results are reported using the NTG 
software package.

| flags = 
| tag = mmm00-cdc
| id = 2000f
}}