劣駆動系のためのウェイポイント軌道最適化によるライトペインティング撮影
Underactuated Waypoint Trajectory Optimization for Light Painting Photography
ウェイポイントで指定された軌道を劣駆動系で実現するため、ウェイポイントの有効化を表す補助変数を導入して最適化問題を自動再定式化する手法を提案し、回転倒立振子の先端で描いた文字を長露光撮影で可視化するタスクで検証した。
著者: Christian Eilers, Jonas Eschmann, Robin Menzenbach, Boris Belousov, Fabio Muratore, Jan Peters
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the engineer to frame the problem in an optimizer-friendly way. This paper proposes a procedure that automates such problem reformulation for a class of tasks in which the desired trajectory is specified by a sequence of waypoints. The approach is based on introducing auxiliary optimization variables that represent waypoint activations. To validate the proposed method, a letter drawing task is set up where shapes traced by the tip of a rotary inverted pendulum are visualized using long exposure photography.
