Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 15, Issue 5, Pages 2253-2261Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-016-0170-z
Keywords
Dual control; optimal trajectory planning; planning under uncertainty
Categories
Funding
- Agency for Defense Development [UD140053JD]
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This paper presents a dual control-based approach for optimal trajectory planning under uncertainty. The method approximately converts a nonlinear stochastic optimal control problem whose objective function is a combination of quadratic stage and/or terminal costs, with additive Gaussian process and measurement noises, into a deterministic optimal control problem by augmenting the uncertainty state defined by the square-root of the estimation error covariance matrix. The open-loop solution to the resulting deterministic optimal control reformulation is obtained using an existing pseudo-spectral method. The effectiveness of the proposed dual control-based approach is verified with two numerical examples of trajectory planning for two-dimensional robot motion with lack of observability for localization, which highlights the impact of the dual effect on the shape of designed paths.
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