CINECA IRIS Institutional Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishIn this paper we deal with the optimal feedback synthesis problem for robotic vehicles with trailers which can be modeled by differential equations in chained-form. With respect to classical methods for numerical evolution of optimal feedback synthesis via Dynamic Programming which are based on both input and state discretization, our method exploits the lattice structure naturally imposed on the reachable set by input quantization. A generalized Dijkstra algorithm can be used to obtain sub-optimal (optimal up to the lattice resolution) feedback laws, for chained-form vehicles with n-trailers, in an effective way.
| Titolo: | A Dynamic Programming Approach to Optimal Planning for Vehicles with Trailers | |
| Autori interni: | ||
| Anno del prodotto: | 2007 | |
| Handle: | http://hdl.handle.net/11568/116317 | |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
File in questo prodotto:
http://hdl.handle.net/11568/116317
Copyright © 2022