| 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.
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| 发表期刊 | SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY
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| 2012-11-01
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| 卷号 | 55期号:11页码:2100-2105 |
| ISSN | 1674-7348
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| 摘要 | An 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. |
| 关键词 | Falling Cat
Nonholonomic Constraint
Motion Planning
Spline Approximation
Particle Swarm Optimization
Systems
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| 学科领域 | 一般力学
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| URL | 查看原文
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| 收录类别 | SCI
; EI
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| 语种 | 英语
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| WOS记录号 | WOS:000309474600018
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| 项目资助者 | This 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).
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| 论文分区 | 二类/Q3
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| 引用统计 |
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| 文献类型 | 期刊论文
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| 条目标识符 | http://dspace.imech.ac.cn/handle/311007/46627
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| 专题 | 先进制造工艺力学实验室
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| 通讯作者 | Ge, XS; Beijing Informat Sci & Technol Univ, Coll Mech & Elect Engn, Beijing 100192, Peoples R China. |
推荐引用方式
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.
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| 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.
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| 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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