DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Jinwhan | ko |
dc.contributor.author | Ha, Jung-Su | ko |
dc.contributor.author | Choi, Han-Lim | ko |
dc.date.accessioned | 2017-11-08T05:05:37Z | - |
dc.date.available | 2017-11-08T05:05:37Z | - |
dc.date.created | 2017-06-21 | - |
dc.date.created | 2017-06-21 | - |
dc.date.issued | 2017-10 | - |
dc.identifier.citation | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.15, no.5, pp.2253 - 2261 | - |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.uri | http://hdl.handle.net/10203/226840 | - |
dc.description.abstract | This paper presents a dual control-based approach for optimal trajectory planning under uncertainty. The method approximately converts a nonlinear stochastic optimal control problem whose objective function is a combination of quadratic stage and/or terminal costs, with additive Gaussian process and measurement noises, into a deterministic optimal control problem by augmenting the uncertainty state defined by the square-root of the estimation error covariance matrix. The open-loop solution to the resulting deterministic optimal control reformulation is obtained using an existing pseudo-spectral method. The effectiveness of the proposed dual control-based approach is verified with two numerical examples of trajectory planning for two-dimensional robot motion with lack of observability for localization, which highlights the impact of the dual effect on the shape of designed paths. | - |
dc.language | English | - |
dc.publisher | INST CONTROL ROBOTICS & SYSTEMS | - |
dc.subject | STOCHASTIC-SYSTEMS | - |
dc.subject | BELIEF SPACE | - |
dc.subject | INFORMATION | - |
dc.subject | COVARIANCE | - |
dc.title | A Quadratic-Cost Dual Control-Based Approach for Optimal Trajectory Planning under Uncertainty | - |
dc.type | Article | - |
dc.identifier.wosid | 000412845300029 | - |
dc.identifier.scopusid | 2-s2.0-85025144404 | - |
dc.type.rims | ART | - |
dc.citation.volume | 15 | - |
dc.citation.issue | 5 | - |
dc.citation.beginningpage | 2253 | - |
dc.citation.endingpage | 2261 | - |
dc.citation.publicationname | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.identifier.doi | 10.1007/s12555-016-0170-z | - |
dc.contributor.localauthor | Kim, Jinwhan | - |
dc.contributor.localauthor | Choi, Han-Lim | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Dual control | - |
dc.subject.keywordAuthor | optimal trajectory planning | - |
dc.subject.keywordAuthor | planning under uncertainty | - |
dc.subject.keywordPlus | STOCHASTIC-SYSTEMS | - |
dc.subject.keywordPlus | BELIEF SPACE | - |
dc.subject.keywordPlus | INFORMATION | - |
dc.subject.keywordPlus | COVARIANCE | - |
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