The aim of this work is motion planning for a class of underactuated mechanical systems. To illustrate the theory, we introduce and investigate, from a geometric and numerical point of view, the solution of kinodynamic planning for the cart–pole. More precisely, given an initial condition for the configuration of the cart–pole, we want to plan an optimal trajectory making the inverted pendulum on the cart to avoid an obstacle during its motion, and to attain a prescribed final configuration.
Optimal Solution of Kinodynamic Motion Planning for the Cart-Pole System
BORIERO, Fabrizio;SANSONETTO, Nicola;MARIGONDA, Antonio;MURADORE, Riccardo;FIORINI, Paolo
2017-01-01
Abstract
The aim of this work is motion planning for a class of underactuated mechanical systems. To illustrate the theory, we introduce and investigate, from a geometric and numerical point of view, the solution of kinodynamic planning for the cart–pole. More precisely, given an initial condition for the configuration of the cart–pole, we want to plan an optimal trajectory making the inverted pendulum on the cart to avoid an obstacle during its motion, and to attain a prescribed final configuration.
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