Optimal velocity planning based on the solution of the Euler-Lagrange equations with a neural network based velocity regression

Abstract

Trajectory optimization is a complex process that includes an infinite number of possibilities and combinations. This work focuses on a particular aspect of the trajectory optimization, related to the optimization of a velocity along a predefined path, with the aim of minimizing power consumption. To tackle the problem, a functional formulation and minimization strategy is developed, by means of the Euler-Lagrange equation. The minimization is later performed using a neural network approach. The strategy is deemed Lagrange-Net, as it is based on the minimization of the energy functional, by the means of Lagrange's equation and neural network approximations.