1A1-L09 準最適運動計画のための機械モデルに応じた位相空間分割手法(動作計画と制御の新展開)

概要

論文の詳細を見る
This paper addresses optimal motion planning for a machine. We discuss a problem of discretization error for the planning in continuous state space. We propose a method to divide state space considering state transition according to a mechanical model. In the proposed method, we define discretization error as a divergence of state transition and we organize an optimal discretization that minimizes discretization error using a binary tree. To validate the proposed dividing method, we conducted several motion planning simulations in phase space using double inverted pendulums. As a result, the planned motion in discretized phase space by the proposed method showed higher optimality than that by uniform discretization on equal calculation time.
一般社団法人日本機械学会の論文
2011-05-26