Nonlinear and Hybrid Control Via RRTs
نویسندگان
چکیده
In this paper, we review rapidly-exploring random trees (RRTs) for motion planning, experiment with them on standard control problems, and extend them to the case of hybrid systems.
منابع مشابه
RRTs for Nonlinear, Discrete, and Hybrid Planning and Control*
In this paper, we describe a planning and control approach in terms of sampling using Rapidly-exploring Random Trees (RRTs), which were introduced by LaValle. We review RRTs for motion planning and show how to use them to solve standard nonlinear control problems. We extend them to the case of hybrid systems and describe our modifications to LaValle’s Motion Strategy Library to allow for hybrid...
متن کاملSampling-Based Planning and Control
In this paper, we describe a planning and control approach in terms of sampling using Rapidlyexploring Random Trees (RRTs), which were introduced in [7, 9]. We review RRTs for motion planning and show how to use them to solve standard nonlinear control problems. We extend them to the case of hybrid systems and describe our modifications to LaValle’s Motion Strategy Library to allow for hybrid m...
متن کاملSampling-based planning, control and verification of hybrid systems
A sampling-based approach to planning, control and verification inspired by robotics motion planning algorithms such as rapidly exploring random trees (RRTs) and probabilistic roadmaps (PRMs) is surveyed. With the focus on RRTs, how to adapt them to solve standard non-linear control problems is demonstrated. RRTs are extended to purely discrete spaces (replacing distance metrics with cost-to-go...
متن کاملSampling-Based Reachability Algorithms for Control and Verification of Complex Systems
In this paper, we survey sampling-based reachability algorithms that may be used for planning, control, and verification of complex systems. These were inspired by two robotics motion planning algorithms: Rapidly-exploring Random Trees (RRTs) and Probabilistic RoadMaps (PRMs). Herein, we review RRTs and PRMs. We review our adaptations and extensions to nonlinear control problems, hybrid systems...
متن کاملConstrained Nonlinear Optimal Control via a Hybrid BA-SD
The non-convex behavior presented by nonlinear systems limits the application of classical optimization techniques to solve optimal control problems for these kinds of systems. This paper proposes a hybrid algorithm, namely BA-SD, by combining Bee algorithm (BA) with steepest descent (SD) method for numerically solving nonlinear optimal control (NOC) problems. The proposed algorithm includes th...
متن کامل