DIRECT: a differential dynamic programming based framework for trajectory generation

• المؤلفون الرئيسيون: Cao, Kun, Cao, Muqing, Yuan, Shenghai, Xie, Lihua
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2022
• الموضوعات: Engineering::Electrical and electronic engineering; Constrained Motion Planning; Optimization and Optimal Control
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/162410

This letter introduces a differential dynamic programming (DDP) based framework for polynomial trajectory generation for differentially flat systems. In particular, instead of using a linear equation with increasing size to represent multiple polynomial segments as in literature, we take a new persp...