Optimal Trajectory Planning and Smoothing Splines

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38906

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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