Rapid Short-Time Path Planning for Phase Space
Chyon Hae Kim*, Hiroshi Tsujino*, and Shigeki Sugano**
*Honda Research Institute Japan Co., Ltd., 8-1 Honcho, Wako-shi, Saitama 351-0188, Japan
**Department of Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
This paper addresses optimal motion for general machines. Approximation for optimal motion requires a global path planning algorithm that precisely calculates the whole dynamics of a machine in a brief calculation. We propose a path planning algorithm that consists of path searching and pruning algorithms. The pruning algorithmis based on our analysis of state resemblance in general phase space. To confirm precision, calculation cost, optimality and applicability of the proposed algorithm, we conducted several shortest time path planning experiments for the dynamic models of double inverted pendulums. Precision to reach the goal states of the pendulums was better than other algorithms. Calculation cost was 58 times faster at least. We could tune optimality of proposed algorithm via resolution parameters. A positive correlation between optimality and resolutions was confirmed. Applicability was confirmed in a torque based position and velocity feedback control simulation. As a result of this simulation, the double inverted pendulums tracked planned motion under noise while keeping within torque limitations.
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