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Numerical solution of hybrid optimal control problems with applications in robotics

Buss, M. ; Hardt, Michael ; Stryk, Oskar von (2002)
Numerical solution of hybrid optimal control problems with applications in robotics.
Proc. 15th IFAC World Congress on Automatic Control. Barcelona, Spain
Konferenzveröffentlichung, Bibliographie

Kurzbeschreibung (Abstract)

Numerical solution techniques for a class of hybrid (discrete event / continuous variable) optimal control problems (HOCP) are described, and their potential use in robotic applications is demonstrated. HOCPs are inherently combinatorial due to their discrete event aspect which is one of the main challenges when numerically solving for optimal hybrid trajectories. One may associate a continuous nonlinear multi-phase problem with each possible discrete state sequence. Two solution techniques for obtaining suboptimal solutions are presented (both based on numerical direct collocation): one fixes interior point constraints on a grid, another uses branch-and-bound. Numerical results of a robotic multi-arm transport task and an underactuated robot are presented.

Typ des Eintrags: Konferenzveröffentlichung
Erschienen: 2002
Autor(en): Buss, M. ; Hardt, Michael ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Numerical solution of hybrid optimal control problems with applications in robotics
Sprache: Englisch
Publikationsjahr: 1 Juli 2002
Verlag: Elsevier Science
Reihe: International Federation of Automatic Control: Proceedings of the 15th world congress, Barcelona, Spain, July 21-26, 2002.- S. 2077-2082
Veranstaltungstitel: Proc. 15th IFAC World Congress on Automatic Control
Veranstaltungsort: Barcelona, Spain
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Kurzbeschreibung (Abstract):

Numerical solution techniques for a class of hybrid (discrete event / continuous variable) optimal control problems (HOCP) are described, and their potential use in robotic applications is demonstrated. HOCPs are inherently combinatorial due to their discrete event aspect which is one of the main challenges when numerically solving for optimal hybrid trajectories. One may associate a continuous nonlinear multi-phase problem with each possible discrete state sequence. Two solution techniques for obtaining suboptimal solutions are presented (both based on numerical direct collocation): one fixes interior point constraints on a grid, another uses branch-and-bound. Numerical results of a robotic multi-arm transport task and an underactuated robot are presented.

Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 20 Nov 2008 08:15
Letzte Änderung: 16 Mai 2019 08:49
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