Optimal obstacle avoiding trajectory generation using Root Locus principles
Nak-seung Patrick Hyun
Friday, April 24, 2015
2:25 – 2:50
Student Center Ballroom
This presentation details a framework to create a set of trajectories, all
guaranteed to avoid known obstacles, using the generalized root locus (GRL).
The creation of harmonic potential fields followed by generalized root
locus analysis leads to a set of parameterized curves, whose gradient
dynamics uniquely generate the curves. Next, the curve generation is
addressed by considering three reparameterizations of the GRL which
propagate at different speeds. After defining the set of admissible
paths via the GRL, the paper covers a simpler method to solve the
minimum time problem in the new framework with and without the state
dependent speed constraints along the path. An example of the minimum
time problem with two different constraints is included at the end.