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Planning a dynamic trajectory via path finding in discretized phase space

  • H. Ritter
  • K. Schulten
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 253)

Abstract

The control of dynamical systems under constraints on the the controlling force can require long term trajectory preplanning to avoid entering dead ends in phase space. To handle such problems in a flexible way we suggest to formulate them as a path finding problem on a suitably discretized version of the phase space of the system. This path finding problem can then be solved with a standard relaxation method in a parallel computation by exploiting a physical analogy: the target point in phase space is considered as the source of a diffusing substance whose concentration gradient serves as a local guide to the destination point.

Keywords

Phase Space Lattice Point Control Force Discretization Scheme Control Torque 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [1]
    William H. Press, Brian P. Flannery, Saul A. Teukolsky, William T. Vetterling: Numerical Recipes, Cambridge (1986).Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1987

Authors and Affiliations

  • H. Ritter
    • 1
  • K. Schulten
    • 1
  1. 1.Physik-DepartmentTechnische Universität MünchenGarching

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