Real-time Computation of Inexact Minimum-Energy Trajectories Using Parametric Sensitivities
Sprache des Vortragstitels:
26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
Sprache des Tagungstitel:
The exact solution of practical trajectory optimization problems is usually not feasible in real time.
The use of approximate solutions deduced from a nominal optimal solution is a potential alternative.
This methodology requires evaluation of parametric sensitivities of the nominal solution in real time which is addressed in this paper.
Improvements to existing methods are introduced that not only increase their efficiency but also ensure the constraint satisfaction of the approximation.
The proposed methods are applied to a practical trajectory planning problem for a planar manipulator where the initial state is given but the final state is unknown prior to task execution.