Solving two-point boundary value problems in trajectory formation

An analog network which computes an optimal motion trajectory in real time under a two-point boundary condition is developed. The authors first describe a mathematical formulation using the theorems from the calculus of variation, then develop a method for mapping the problem to the spatial domain. Based on the mapping, building blocks and an analog network are developed. The network has many interconnected nodes operating concurrently in an asynchronous fashion. The energy equilibrium state of the network provides a solution to the boundary value problem