Informatik-Kolloquium: Optimal Control and Motion Planning with Structure-Exploiting Motion Primitives
Freitag, 19.01.2018, 10.30 Uhr
Ort: Seminarraum 2202, Hauptbau, Ahornstr. 55
Referent: Dr. Kathrin Flaßkamp, Uni Bremen, Zentrum für Technomathematik, AG Optimierung und Optimale Steuerung
Optimal control problems for nonlinear dynamical systems arise in many engineering applications and require the development of efficient numerical algorithms. In motion planning, control maneuvers shall be computed online, they should be reusable and optimal with respect to multiple objectives. These goals are met by motion planning with motion primitives. Motion primitives are short pieces of trajectories that exploit inherent system structures. Organized in a maneuver automaton, they can be concatenated to solution sequences. This framework provides good initial guesses to optimal control problems and allows to exploit internal system structures such as symmetries and (un)stable manifolds. The maneuver automaton is a quantization of the nonlinear dynamics and can be interpreted as a hybrid system. This talk first gives an introduction to optimal control and direct solutions methods and then shows the combination with motion planning techniques in several examples.
Es laden ein: Die Dozenten der Informatik