Optimal velocity planning based on the solution of the Euler-Lagrange equations with a neural network based velocity regression
Article dans une revue avec comité de lecture
Date
2024-07Journal
Discrete and Continuous Dynamical Systems - Series S (DCDS-S)Résumé
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.
Fichier(s) constituant cette publication
- Nom:
- PIMM_DCDS-S_2024_GHNATIOS.pdf
- Taille:
- 1.440Mo
- Format:
- Description:
- OPTIMAL VELOCITY PLANNING BASED ...
- Fin d'embargo:
- 2025-01-31
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