TY - GEN
T1 - Motion Planning with Homotopy Class Constraints via the Auxiliary Energy Reduction Technique
AU - He, Wenbo
AU - Huang, Yunshen
AU - Zeng, Shen
N1 - Funding Information:
Department of Electrical and System Engineering, Washington University, St. Louis, MO 63130, USA, {wenbo.he,yunshen.huang,s.zeng}@wustl.edu. This work was supported by the NSF grant CMMI-1933976.
Publisher Copyright:
© 2022 American Automatic Control Council.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85138492505&partnerID=8YFLogxK
U2 - 10.23919/ACC53348.2022.9867325
DO - 10.23919/ACC53348.2022.9867325
M3 - Conference contribution
AN - SCOPUS:85138492505
T3 - Proceedings of the American Control Conference
SP - 4933
EP - 4938
BT - 2022 American Control Conference, ACC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 American Control Conference, ACC 2022
Y2 - 8 June 2022 through 10 June 2022
ER -