l9printrolin2

l9printrolin2 - Path Planning Incorporating Robot Dynamics...

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Path Planning Incorporating Robot Dynamics Paul Robertson 16.410/16.413 i 0 1 1 3 5 7 9 Distribut on of Average PSet in Rank Order 0.2 0.4 0.6 0.8 1.2 1 1 1 3 1 5 1 7 1 9 2 1 2 3 2 5 2 7 2 9
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Linear Programming Can we formulate the path planning problem in terms of LP? Partially yes: We can formulate path planning that incorporates robot dynamics and provides a minimum fuel solution that respects time (arrival) constraints and vehicle limitations. Obstacle avoidance requires a little more: Mixed Integer/Linear Programming Robot Control and State Spacecraft with Mass M Courtesy of NASA /JPL . Object of Path Planning Problem LP Constraints and Objective function From a start state (position and velocity) get to a target state. 1. At a fixed time T ? Or by T ? 2.
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This note was uploaded on 11/07/2011 for the course AERO 16.410 taught by Professor Brianwilliams during the Fall '05 term at MIT.

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l9printrolin2 - Path Planning Incorporating Robot Dynamics...

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