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A multisine approach for trajectory optimization based on information gain.

Research output: Contribution to journalJournal article

Published

Journal publication date06/2003
JournalRobotics and Autonomous Systems
Journal number4
Volume43
Number of pages13
Pages231-243
Original languageEnglish

Abstract

This paper presents amultisine approach for trajectory optimization based on information gain, with distance and orientation sensing to knownbeacons. It addresses the problem of active sensing, i.e. the selection of a robot motion or sequence of motions, which make the robot arrive in its desired goal configuration (position and orientation) with maximum accuracy, given the available sensor information. The optimal trajectory is parameterized as a linear combination of sinusoidal functions. Anappropriate optimality criterion is selected which takes into account various requirements (such as maximum accuracy and minimum time). Several constraints can be formulated, e.g. with respect to collision avoidance. The optimal trajectory is then determined by numerical optimization techniques. The approach is applicable to both nonholonomic and holonomic robots. Its effectiveness is illustrated here for a nonholonomic wheeled mobile robot (WMR) in an environment with and without obstacles.

Bibliographic note

The final, definitive version of this article has been published in the Journal, Robotics and Autonomous Systems, 43 (4), 2003, © ELSEVIER.