Title :
Motion planning via optimal control theory
Author_Institution :
Fachbereich MNDU, Fachhochschule Wiesbaden
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;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1023924
