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Trajectory generation using sum-of-norms regularization | IEEE Conference Publication | IEEE Xplore

Trajectory generation using sum-of-norms regularization


Abstract:

Many tracking problems are split into two sub-problems, first a smooth reference trajectory is generated that meet the control design objectives, and then a closed loop c...Show More

Abstract:

Many tracking problems are split into two sub-problems, first a smooth reference trajectory is generated that meet the control design objectives, and then a closed loop control system is designed to follow this reference trajectory as well as possible. Applications of this kind include (autonomous) vehicle navigation systems and robotics. Typically, a spline model is used for trajectory generation and another physical and dynamical model is used for the control design. Here we propose a direct approach where the dynamical model is used to generate a control signal that takes the state trajectory through the waypoints specified in the design goals. The strength of the proposed formulation is the methodology to obtain a control signal with compact representation and that changes only when needed, something often wanted in tracking. The formulation takes the shape of a constrained least-squares problem with sum-of-norms regularization, a generalization of the ℓ1-regularization. The formulation also gives a tool to, e.g. in model predictive control, prevent chatter in the input signal, and also select the most suitable instances for applying the control inputs.
Date of Conference: 15-17 December 2010
Date Added to IEEE Xplore: 22 February 2011
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Conference Location: Atlanta, GA, USA

References

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