1P1-Q03 Semi-Optimal Stabilization using Reverse-Time Search Tree(Dynamics & Design of Robot System)
Chyon Hae Kim, Hiroshi Tsujino, Shigeki Sugano · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
This paper addresses online optimal motion planning for a machine. The proposed online controller selects semi-optimal motion from a reverse-time search tree while stabilizing a machine. We made the tree using a framework, rapid semi-optimal motion planning (RASMO), that plans semi-optimal motions rapidly. To validate the proposed controller, we conducted several simulations using double inverted pendulums. As a result, the proposed controller selected and controlled the motion of the pendulums online, and stabilized the pendulums quickly. The high resolution of the mesh improved the control precision.