论文标题
具有不确定边界条件和自由终端时间的仿射控制系统的几何运动计划
Geometric Motion Planning for Affine Control Systems with Indefinite Boundary Conditions and Free Terminal Time
论文作者
论文摘要
仿射控制系统的运动计划问题包括设计控制输入，这些控制输入将系统从定义明确的初始状态到最终状态，以期所需的时间。但是，对于具有漂移的控制系统，了解在给定时间或相互达到最终状态所需的时间的最终状态通常是问题中最困难的部分。我们在本文中解决了这个问题，并引入了一种新方法来解决仿射控制系统的运动计划问题，其中所需的运动可能具有无限的边界条件，并且执行运动所需的时间是免费的。该方法扩展了我们早期在没有漂移的系统的运动计划方面的工作。本文提供了一个恒定线性速度的独轮车平行停车的规范示例，以证明我们的算法。
The problem of motion planning for affine control systems consists of designing control inputs that drive a system from a well-defined initial to final states in a desired amount of time. For control systems with drift, however, understanding which final states are reachable in a given time, or reciprocally the amount of time needed to reach a final state, is often the most difficult part of the problem. We address this issue in this paper and introduce a new method to solve motion planning problems for affine control systems, where the motion desired can have indefinite boundary conditions and the time required to perform the motion is free. The method extends on our earlier work on motion planning for systems without drift. A canonical example of parallel parking of a unicycle with constant linear velocity is provided in this paper to demonstrate our algorithm.
