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Numerical solution of hybrid optimal control problems with applications in robotics

Buss, M. and Hardt, Michael and Stryk, Oskar von (2002):
Numerical solution of hybrid optimal control problems with applications in robotics.
Elsevier Science, In: Proc. 15th IFAC World Congress on Automatic Control, Barcelona, Spain, In: International Federation of Automatic Control: Proceedings of the 15th world congress, Barcelona, Spain, July 21-26, 2002.- S. 2077-2082, [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2002
Creators: Buss, M. and Hardt, Michael and Stryk, Oskar von
Title: Numerical solution of hybrid optimal control problems with applications in robotics
Language: English
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.

Series Name: International Federation of Automatic Control: Proceedings of the 15th world congress, Barcelona, Spain, July 21-26, 2002.- S. 2077-2082
Publisher: Elsevier Science
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: Proc. 15th IFAC World Congress on Automatic Control
Event Location: Barcelona, Spain
Date Deposited: 20 Nov 2008 08:15
License: [undefiniert]
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