Path planning in a Riemannian manifold using optimal control
From MaRDI portal
(Redirected from Publication:6201227)
geometric control theorymotion planningnonlinear differential equationoptimal controlRiemannian curvatureRiemannian manifold
Control problems involving ordinary differential equations (34H05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Optimality conditions for problems involving ordinary differential equations (49K15) Applications of differential geometry to physics (53Z05) Control/observation systems governed by ordinary differential equations (93C15)
Abstract: We consider the motion planning of an object in a Riemannian manifold where the object is steered from an initial point to a final point utilizing optimal control. Considering Pontryagin Minimization Principle we compute the Optimal Controls needed for steering the object from initial to final point. The Optimal Controls were solved with respect to time t and shown to have norm 1 which should be the case when the extremal trajectories, which are the solutions of Pontryagin Principle, are arc length parametrized. The extremal trajectories are supposed to be the geodesics on the Riemannian manifold. So we compute the geodesic curvature and the Gaussian curvature of the Riemannian structure.
Recommendations
This page was built for publication: Path planning in a Riemannian manifold using optimal control
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6201227)
