论文标题
绘画摄影的轨道轨迹优化不足
Underactuated Waypoint Trajectory Optimization for Light Painting Photography
论文作者
论文摘要
尽管在机器人技术和自然界中都有丰富的范围，但不足的系统仍然是控制工程的挑战。轨迹优化提供了一个通常适用的解决方案，但是其效率在很大程度上取决于工程师以优化器友好的方式解决问题的技能。本文提出了一个程序，该程序可自动化此类问题重新重新针对一系列任务，其中所需的轨迹由一系列路点指定。该方法基于引入代表路点激活的辅助优化变量。为了验证所提出的方法，使用长时间的摄影可视化了一个旋转倒置摆的形状，在旋转倒置的尖端所追踪的形状中设置了一个字母绘制任务。
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the engineer to frame the problem in an optimizer-friendly way. This paper proposes a procedure that automates such problem reformulation for a class of tasks in which the desired trajectory is specified by a sequence of waypoints. The approach is based on introducing auxiliary optimization variables that represent waypoint activations. To validate the proposed method, a letter drawing task is set up where shapes traced by the tip of a rotary inverted pendulum are visualized using long exposure photography.
