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portada Trajectory Planning Using Dynamics and Power Models: A Heuristics Based Approach
Type
Physical Book
Publisher
Author
Language
English
Pages
128
Format
Hardcover
ISBN13
9781041034407

Trajectory Planning Using Dynamics and Power Models: A Heuristics Based Approach

Camilo Ordonez; Mario Harper; Jonathan T. Boylan; Emmanuel G. Collins Jr. (Author) · Crc Pr Inc · Hardcover

Trajectory Planning Using Dynamics and Power Models: A Heuristics Based Approach - Camilo Ordonez; Mario Harper; Jonathan T. Boylan; Emmanuel G. Collins Jr.

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Synopsis "Trajectory Planning Using Dynamics and Power Models: A Heuristics Based Approach"

This book shows how to plan trajectories (i.e. time-dependent paths) for autonomous robots using a dynamic model within the A* framework.Drawing from optimal control's model predictive control framework, the book develops a paradigm called Sampling Based Model Predictive Optimization (SBMPO), which generates graph trees through input sampling of a dynamic model, enabling A*-type algorithms to find optimal trajectories. The book covers various robotic platforms and tasks, including manipulators lifting heavy loads, mobile robots navigating steep hills, energy-efficient skid-steered movements, thermally informed space exploration planning, and climbing robots in obstacle-rich environments. It also explores methods for updating dynamic models for robust operation and provides sample code for applying SBMPO to additional problems.This resource is aimed at researchers, engineers, and advanced students in motion planning and control for robotic and autonomous systems.

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