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Trajectory Optimization Using Virtual Motion Camouflage and Particle Swarm Optimization

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Intelligent Robotics and Applications (ICIRA 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8102))

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Abstract

This paper investigates a new numerical method to solve a nonlinear constrained trajectory optimization problem. Especially, we consider a problem constrained on the terminal angle and time. The proposed algorithm is based on the virtual motion camouflage (VMC) and particle swarm optimization (PSO) and is called VMCPSO. VMC changes the typical full space optimal problem to the subspace optimal problem, so it can reduce the dimension of the original problem by using path control parameters (PCPs). If the PCPs are optimized, then the optimal path can be obtained. Therefore, we employ PSO to optimize these PCPs. The optimization results show that the optimal path considering the terminal angle and time is effectively generated using VMCPSO.

This research was financially supported by a grant to Unmanned Technology Research Center funded by Defense Acquisition Program Administration, and by Samsung Thales.

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Author information

Authors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea

    Dong Jun Kwak, Byunghun Choi & H. Jin Kim

Authors
  1. Dong Jun Kwak
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  2. Byunghun Choi
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  3. H. Jin Kim
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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© 2013 Springer-Verlag Berlin Heidelberg

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Kwak, D.J., Choi, B., Kim, H.J. (2013). Trajectory Optimization Using Virtual Motion Camouflage and Particle Swarm Optimization. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40852-6_60

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  • DOI: https://doi.org/10.1007/978-3-642-40852-6_60

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40851-9

  • Online ISBN: 978-3-642-40852-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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