Nonholonomic motion planning for a free-falling cat using spline approximation
文献类型：期刊论文
| 作者 | Ge XS(戈新生) ; Guo ZX(郭正雄); Ge, XS
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| 刊名 | SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY
 |
| 出版日期 | 2012-11-01 |
| 卷号 | 55期号:11页码:2100-2105 |
| 通讯作者邮箱 | gebim@vip.sina.com |
| 关键词 | falling cat nonholonomic constraint motion planning spline approximation particle swarm optimization Systems |
| ISSN号 | 1674-7348 |
| 产权排序 | [Ge XinSheng] Beijing Informat Sci & Technol Univ, Coll Mech & Elect Engn, Beijing 100192, Peoples R China;[Guo ZhengXiong] Chinese Acad Sci, Inst Mech, Beijing 100190, Peoples R China |
| 通讯作者 | Ge, XS ; Beijing Informat Sci & Technol Univ, Coll Mech & Elect Engn, Beijing 100192, Peoples R China. |
| 合作状况 | 国内 |
| 中文摘要 | An optimal motion planning of a free-falling cat based on the spline approximation is investigated. Nonholonomicity arises in a free-falling cat subjected to nonintegrable velocity constraints or nonintegrable conservation laws. The equation of dynamics of a free-falling cat is obtained by using the model of two symmetric rigid bodies. The control of the system can be converted to the motion planning problem for a driftless system. A cost function is used to incorporate the final errors and control energy. The motion planning is to determine control inputs to minimize the cost function and is formulated as an infinite dimensional optimal control problem. By using the control parameterization, the infinite dimensional optimal control problem can be transformed to a finite dimensional one. The particle swarm optimization (PSO) algorithm with the cubic spline approximation is proposed to solve the finite dimension optimal control problem. The cubic spline approximation is introduced to realize the control parameterization. The resulting controls are smooth and the initial and terminal values of the control inputs are zeros, so they can be easily generated by experiment. Simulations are also performed for the nonholonomic motion planning of a free-falling cat. Simulated experimental results show that the proposed algorithm is more effective than the Newtoian algorithm. |
| 学科主题 | 一般力学 |
| 分类号 | 二类/Q3 |
| 收录类别 | SCI ; EI |
| 资助信息 | This work was supported by the National Natural Science Foundation of China (Grant No. 11072038) and the Municipal Key Programs of Natural Science Foundation of Beijing, China (Grant No. KZ201110772039). |
| 原文出处 | http://dx.doi.org/10.1007/s11433-012-4891-6 |
| 语种 | 英语 |
| WOS记录号 | WOS:000309474600018 |
| 公开日期 | 2013-01-18 |
| 源URL | [http://dspace.imech.ac.cn/handle/311007/46627]  |
| 专题 | 力学研究所_先进制造工艺力学重点实验室 |
| 通讯作者 | Ge, XS |
| 推荐引用方式 GB/T 7714 | Ge XS,Guo ZX,Ge, XS. Nonholonomic motion planning for a free-falling cat using spline approximation[J]. SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY,2012,55(11):2100-2105. |
| APA | 戈新生,郭正雄,&Ge, XS.(2012).Nonholonomic motion planning for a free-falling cat using spline approximation.SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY,55(11),2100-2105. |
| MLA | 戈新生,et al."Nonholonomic motion planning for a free-falling cat using spline approximation".SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY 55.11(2012):2100-2105. |
入库方式： OAI收割
来源：力学研究所
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