Motion Planning with Homotopy Class Constraints via the Auxiliary Energy Reduction Technique

Wenbo He, Yunshen Huang, Shen Zeng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

We introduce the so-called Auxiliary Energy Reduction (AER) technique, which is a gradient-based approach to solving motion planning problems with homotopy class constraints for system models with full-scale nonholonomic dynamics. The hallmark of our approach is that we first introduce virtual control terms to the original system dynamics that ensure that any preset state trajectory is dynamically feasible with respect to the new extended system. We then gradually shift the contribution of the artificial inputs to the actual original inputs by solving a sequence of associated quadratic programs. When the contribution of the artificial inputs has been fully removed, the preset trajectory will have been deformed to a trajectory of the same homotopy class that is now also feasible with respect to the original system. The practicality of our method is demonstrated in simulation examples for the Brockett integrator, the unicycle, and a 12-dimensional nonlinear quadcopter model.

Original languageEnglish
Title of host publication2022 American Control Conference, ACC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4933-4938
Number of pages6
ISBN (Electronic)9781665451963
DOIs
StatePublished - 2022
Event2022 American Control Conference, ACC 2022 - Atlanta, United States
Duration: Jun 8 2022Jun 10 2022

Publication series

NameProceedings of the American Control Conference
Volume2022-June
ISSN (Print)0743-1619

Conference

Conference2022 American Control Conference, ACC 2022
Country/TerritoryUnited States
CityAtlanta
Period06/8/2206/10/22

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