DocumentCode
2066895
Title
Motion planning via optimal control theory
Author
Spindler, K.
Author_Institution
Fachbereich MNDU, Fachhochschule Wiesbaden
Volume
3
fYear
2002
fDate
2002
Firstpage
1972
Abstract
We use optimal control theory to solve motion planning problems.
Keywords
Lie groups; actuators; differential geometry; optimal control; path planning; symmetry; Lie groups; Spacecraft attitude control; actuator constraints; admissible motions; differential geometric methods; dynamical system; fixed-endtime problem; geometric control theory; kinematics; motion planning; optimal control theory; penalty terms; robotics; symmetric spaces; time-dependent weighting functions; underwater vehicles; Control systems; Control theory; Kinematics; Motion control; Motion planning; Optimal control; Orbital robotics; Space vehicles; Underwater vehicles; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2002. Proceedings of the 2002
ISSN
0743-1619
Print_ISBN
0-7803-7298-0
Type
conf
DOI
10.1109/ACC.2002.1023924
Filename
1023924
Link To Document