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Trajectory planning of a free-flying robot by using the optimal control

โœ Scribed by Yoshiyuki Sakawa

Publisher
John Wiley and Sons
Year
1999
Tongue
English
Weight
146 KB
Volume
20
Category
Article
ISSN
0143-2087

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โœฆ Synopsis

In this paper, we consider the planar motion of a free-#ying robot equipped with the jet thrust mechanism. Based on the non-linear equations of motion of the free-#ying robot, we calculate the optimal control such that the fuel consumption is minimized and that the given terminal condition is satis"ed at the end of motion. We use Sakawa}Shindo algorithm for calculating the optimal control, which was derived on the basis of Pontryagin's maximum principle. The computational results are satisfactory and show that the algorithm works well.

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