Please use this identifier to cite or link to this item:
|Title:||DIRECT: a differential dynamic programming based framework for trajectory generation||Authors:||Cao, Kun
|Keywords:||Engineering::Electrical and electronic engineering||Issue Date:||2022||Source:||Cao, K., Cao, M., Yuan, S. & Xie, L. (2022). DIRECT: a differential dynamic programming based framework for trajectory generation. IEEE Robotics and Automation Letters, 7(2), 2439-2446. https://dx.doi.org/10.1109/LRA.2022.3142744||Journal:||IEEE Robotics and Automation Letters||Abstract:||This letter introduces a differential dynamic programming (DDP) based framework for polynomial trajectory generation for differentially flat systems. In particular, instead of using a linear equation with increasing size to represent multiple polynomial segments as in literature, we take a new perspective from state-space representation such that the linear equation reduces to a finite horizon control system with a fixed state dimension and the required continuity conditions for consecutive polynomials are automatically satisfied. Consequently, the constrained trajectory generation problem (both with and without time optimization) can be converted to a discrete-time finite-horizon optimal control problem with inequality constraints, which can be approached by a recently developed interior-point DDP (IPDDP) algorithm. Furthermore, for unconstrained trajectory generation with preallocated time, we show that this problem is indeed a linear-quadratic tracking (LQT) problem (DDP algorithm with exact one iteration). All these algorithms enjoy linear complexity with respect to the number of segments. Both numerical comparisons with state-of-the-art methods and physical experiments are presented to verify and validate the effectiveness of our theoretical findings. The implementation code will be open-sourced. [Online] Available: https://github.com/ntu-caokun/DIRECT||URI:||https://hdl.handle.net/10356/162410||ISSN:||2377-3766||DOI:||10.1109/LRA.2022.3142744||Rights:||© 2022 IEEE. All rights reserved.||Fulltext Permission:||none||Fulltext Availability:||No Fulltext|
|Appears in Collections:||EEE Journal Articles|
Updated on Dec 3, 2022
Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.