時間最適な点間運動計画：二段階アプローチ
Time-optimal Point-to-point Motion Planning: A Two-stage Approach
固定時間グリッドと可変時間グリッドを組み合わせた二段階の時間最適運動計画法を提案し、非同期NMPCと統合してオンライン再計画を可能にした。
著者: Shuhao Zhang, Jan Swevers
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage with a variable time grid. The proposed approach brings benefits through its straightforward optimal control problem formulation with a fixed and low number of control steps for manageable computational complexity and the avoidance of interpolation errors associated with time scaling, especially when aiming to reach a distant goal. Additionally, an asynchronous nonlinear model predictive control (NMPC) update scheme is integrated with this two-stage approach to address delayed and fluctuating computation times, facilitating online replanning. The effectiveness of the proposed two-stage approach and NMPC implementation is demonstrated through numerical examples centered on autonomous navigation with collision avoidance.
