Intelligent control of autonomous systems using a constrained optimal control approach

Alok Kumar, Sunil K. Singh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this paper, a general framework for trajectory planning for specified tasks in a dynamic environment is discussed. Since we are interested in dynamic tasks and environments, a `planner within the feedback controller' approach is adopted. Trajectory generation for a particular dynamic behavior is shown to lead to several constraints in the state or control space. We use the concept of forward projection and preimages to generate these constraints. The trajectory is then planned using a dynamic constraint-generation and constraint-satisfaction framework. The lowest level motor controller behavior is altered by constraints generated by the constraint generation level on top. The solution to the resulting constrained problem, which is accomplished in real-time, automatically generates a desired dynamic behavior.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages1252-1257
Number of pages6
ISBN (Print)0780312988
StatePublished - Dec 1 1993
Externally publishedYes
EventProceedings of the 32nd IEEE Conference on Decision and Control. Part 2 (of 4) - San Antonio, TX, USA
Duration: Dec 15 1993Dec 17 1993

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2
ISSN (Print)0191-2216

Other

OtherProceedings of the 32nd IEEE Conference on Decision and Control. Part 2 (of 4)
CitySan Antonio, TX, USA
Period12/15/9312/17/93

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Kumar, A., & Singh, S. K. (1993). Intelligent control of autonomous systems using a constrained optimal control approach. In Proceedings of the IEEE Conference on Decision and Control (pp. 1252-1257). (Proceedings of the IEEE Conference on Decision and Control; Vol. 2). Publ by IEEE.