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Nonholonomic motion planning for a free-falling cat using spline approximation
Ge XS(戈新生); Guo ZX(郭正雄); Ge, XS; Beijing Informat Sci & Technol Univ, Coll Mech & Elect Engn, Beijing 100192, Peoples R China.
Source PublicationSCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY
2012-11-01
Volume55Issue:11Pages:2100-2105
ISSN1674-7348
AbstractAn optimal motion planning of a free-falling cat based on the spline approximation is investigated. Nonholonomicity arises in a free-falling cat subjected to nonintegrable velocity constraints or nonintegrable conservation laws. The equation of dynamics of a free-falling cat is obtained by using the model of two symmetric rigid bodies. The control of the system can be converted to the motion planning problem for a driftless system. A cost function is used to incorporate the final errors and control energy. The motion planning is to determine control inputs to minimize the cost function and is formulated as an infinite dimensional optimal control problem. By using the control parameterization, the infinite dimensional optimal control problem can be transformed to a finite dimensional one. The particle swarm optimization (PSO) algorithm with the cubic spline approximation is proposed to solve the finite dimension optimal control problem. The cubic spline approximation is introduced to realize the control parameterization. The resulting controls are smooth and the initial and terminal values of the control inputs are zeros, so they can be easily generated by experiment. Simulations are also performed for the nonholonomic motion planning of a free-falling cat. Simulated experimental results show that the proposed algorithm is more effective than the Newtoian algorithm.
KeywordFalling Cat Nonholonomic Constraint Motion Planning Spline Approximation Particle Swarm Optimization Systems
Subject Area一般力学
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Indexed BySCI ; EI
Language英语
WOS IDWOS:000309474600018
Funding OrganizationThis work was supported by the National Natural Science Foundation of China (Grant No. 11072038) and the Municipal Key Programs of Natural Science Foundation of Beijing, China (Grant No. KZ201110772039).
Classification二类/Q3
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Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://dspace.imech.ac.cn/handle/311007/46627
Collection先进制造工艺力学实验室
Corresponding AuthorGe, XS; Beijing Informat Sci & Technol Univ, Coll Mech & Elect Engn, Beijing 100192, Peoples R China.
Recommended Citation
GB/T 7714
Ge XS,Guo ZX,Ge, XS,et al. Nonholonomic motion planning for a free-falling cat using spline approximation[J]. SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY,2012,55(11):2100-2105.
APA 戈新生,郭正雄,Ge, XS,&Beijing Informat Sci & Technol Univ, Coll Mech & Elect Engn, Beijing 100192, Peoples R China..(2012).Nonholonomic motion planning for a free-falling cat using spline approximation.SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY,55(11),2100-2105.
MLA 戈新生,et al."Nonholonomic motion planning for a free-falling cat using spline approximation".SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY 55.11(2012):2100-2105.
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