Chatzigeorgiou, Dimitris (MIT)

Trajectory Optimization for Nonholonomic Vehicles on Non-Flat Terrains Using Shooting and Collocation Methods

Scheduled for presentation during the Contributed session "Nonholonomic Systems" (TuAT3), Tuesday, October 22, 2013, 11:15−11:35, Tent A

6th Annual Dynamic Systems and Control Conference, October 21-23, 2020, Stanford University, Munger Center, Palo Alto, CA

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

In this paper we focus on the trajectory optimization problem for a specific family of robots; nonholonomic mobile robots. We study the particular case where such robots operate on smooth, non-flat terrains, i.e. terrains with large differences in elevation. Initially we present the governing equations of such robots and then study the trajectory optimization problem in order to solve for the optimal control policy. We test two different approaches for this problem, namely a shooting and a collocation method, for evaluating and optimizing a performance index.