| Title: | Optimal Trajectory Planning and Smoothing Splines |
| Author: | Egerstedt, Magnus B. ; Martin, Clyde F. |
| Abstract: | In this paper, some of the relationships between optimal control and trajectory planning are examined. When planning trajectories for linear control systems, a demand that arises naturally in air traffic control or noise contaminated data interpolation is that the curve passes close to given points, or through intervals, at given times. In this paper, we produce these curves by solving an optimal control problem for linear control systems, while driving the output of the system close to the waypoints. We furthermore show how this optimal control problem reduces to a finite, quadratic programming problem, and we thus provide a constructive, yet theoretically sound framework for producing a rich set of curves called smoothing splines. |
| Description: | Digital Object Identifier: 10.1016/S0005-1098(01)00055-3 |
| Type: | Article |
| URI: | http://hdl.handle.net/1853/38906 |
| ISSN: | 0005-1098 |
| Citation: | M. Egerstedt and C. Martin. Optimal Trajectory Planning and Smoothing Splines. Automatica, Vol. 37, No. 7, pp. 1057-1064, July 2001. |
| Date: | 2001-07 |
| Contributor: |
Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines Harvard University. Division of Engineering and Applied Sciences Texas Tech University. Dept. of Mathematics and Statistics |
| Publisher: |
Georgia Institute of Technology
Elsevier |
| Subject: |
Trajectory planning
Linear systems Optimal control Splines |
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