文章基本信息

标题：Affine Geometric Heat Flow and Motion Planning for Dynamic Systems
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作者：Shenyu Liu ; Yinai Fan ; Mohamed-Ali Belabbas 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：16
页码：168-173
DOI：10.1016/j.ifacol.2019.11.773
语种：English
出版社：Elsevier
摘要：We present a new method for motion planning for control systems. The method aims to provide a natural computational framework in which a broad class of motion planning problems can be cast; including problems with holonomic and non-holonomic constraints, drift dynamics, obstacle constraints and constraints on the applied controls. The method, which finds its inspiration in recent work on the so-called geometric heat flows and curve shortening flows, relies on a hereby introduced partial differential equation, which we call the affine geometric heat flow, and evolves an arbitrary differentiable path joining initial to final state in configuration space to a path that meets the constraints imposed on the problem. From the path, controls to be applied on the system can be extracted. We provide conditions guaranteeing that the controls extracted will drive the system arbitrarily close to the desired final state, while meeting the imposed constraints and illustrate the method on three canonical examples.
关键词：KeywordsMotion planninggeometric control methodspartial differential equationsaffine system with driftinput constraintsDubins car