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2010
IEEE

Trajectory generation using sum-of-norms regularization

10 years 6 months ago
Trajectory generation using sum-of-norms regularization
Abstract-- Many tracking problems are split into two subproblems, first a smooth reference trajectory is generated that meet the control design objectives, and then a closed loop control system is designed to follow this reference trajectory as well as possible. Applications of this kind include (autonomous) vehicle navigation systems and robotics. Typically, a spline model is used for trajectory generation and another physical and dynamical model is used for the control design. Here we propose a direct approach where the dynamical model is used to generate a control signal that takes the state trajectory through the waypoints specified in the design goals. The strength of the proposed formulation is the methodology to obtain a control signal with compact representation and that changes only when needed, something often wanted in tracking. The formulation takes the shape of a constrained least-squares problem with sum-of-norms regularization, a generalization of the 1-regularization. T...
Henrik Ohlsson, Fredrik Gustafsson, Lennart Ljung,
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Henrik Ohlsson, Fredrik Gustafsson, Lennart Ljung, Stephen Boyd
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