Pregled bibliografske jedinice broj: 120059
Time Optimal Robot Control with Obstacle Avoidance Constraints
Time Optimal Robot Control with Obstacle Avoidance Constraints // Annals of DAAAM for 2000 and Proceedings of the 13th International DAAAM Symposium "Intelligent Manufacturing and Automation: Learning from Nature" / Katalinić, Branko (ur.).
Beč: DAAAM International Vienna, 2002. str. 251-252 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 120059 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Time Optimal Robot Control with Obstacle Avoidance Constraints
Autori
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Annals of DAAAM for 2000 and Proceedings of the 13th International DAAAM Symposium "Intelligent Manufacturing and Automation: Learning from Nature"
/ Katalinić, Branko - Beč : DAAAM International Vienna, 2002, 251-252
Skup
Intelligent Manufacturing and Automation: Learning from Nature
Mjesto i datum
Beč, Austrija, 23.10.2002. - 26.10.2002
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Time Optimal Control; Nonlinear Systems; Robot Control; Gradient Algorithm
Sažetak
This paper presents a new numerical algorithm for time optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm is based on the backpropagation-through-time algorithm(BPTT), which is used as a learning algorithm for recurrent neural networks. The proposed algorithm provides better convergence properties then numerical algorithm based on conversion of optimal control problem into a nonlinear programming one. The algorithm is applied to the problem of time optimal robot control with obstacle avoidance constraints.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
