Authors:
Taha Chettibi
1
;
Moussa Haddad
1
and
Samir Hanchi
2
Affiliations:
1
Laboratory of Structure Mechanics, Algeria
;
2
Laboratory of Fluid Mechanics, Algeria
Keyword(s):
Robotic Systems, Parametric Optimization, Motion Synthesis.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
This paper presents how a problem of optimal trajectory planning, that is an optimal control problem, can be transformed into a parametric optimization problem and in consequence be tackled using efficient deterministic or stochastic parametric optimization techniques. The transformation is done thanks to discretizing some or all continuous system’s variables and forming their time-histories by interpolation. We will discuss three different methods where, in addition to transfer time T, considered optimization parameters are: 1) independent state and control parameters, 2) control parameters and 3) independent position parameters. The simplicity and the efficiency of the third mode allow us to use it to solve the problem of optimal trajectory planning in complex situations, in particular for holonomic and non-holonomic systems.