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Linear-quadratic Regulator Rapidly-exploring Random Tree
Linear-quadratic regulator rapidly exploring random tree (LQR-RRT) is a sampling based algorithm for kinodynamic planning. A solver is producing random actions which are forming a funnel in the state space. The generated tree is the action sequence which fulfills the cost function. The restriction is, that a prediction model, based on differential equations, is available to simulate a physical system. The method is an extension of the rapidly exploring random tree, a widely used approach to motion planning. Motivation The control theory is using differential equations to describe complex physical systems like an inverted pendulum. A set of differential equations forms a physics engine which maps the control input to the state space of the system. The forward model is able to simulate the given domain. For example, if the user pushes a cart to the left, a pendulum mounted on the cart will react with a motion. The exact force is determined by newton's laws of motion. A solver, fo ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Kinodynamic Planning
In robotics and motion planning, kinodynamic planning is a class of problems for which velocity, acceleration, and force/torque bounds must be satisfied, together with kinematic constraints such as avoiding obstacles. The term was coined by Bruce Donald, Pat Xavier, John Canny, and John Reif. Donald et al. developed the first polynomial-time approximation schemes (PTAS) for the problem. By providing a provably polynomial-time ε-approximation algorithm, they resolved a long-standing open problem in optimal control. Their first paper considered time-optimal control ("fastest path") of a point mass under Newtonian dynamics, amidst polygonal (2D) or polyhedral (3D) obstacles, subject to state bounds on position, velocity, and acceleration. Later they extended the technique to many other cases, for example, to 3D open-chain kinematic robots under full Lagrangian dynamics. More recently, many practical heuristic algorithms based on stochastic optimization and iterative sampling w ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Underactuation
Underactuation is a technical term used in robotics and control theory to describe mechanical systems that cannot be commanded to follow arbitrary trajectories in configuration space. This condition can occur for a number of reasons, the simplest of which is when the system has a lower number of actuators than degrees of freedom. In this case, the system is said to be ''trivially underactuated''. The class of underactuated mechanical systems is very rich and includes such diverse members as automobiles, airplanes, and even animal Animals are multicellular, eukaryotic organisms in the Biology, biological Kingdom (biology), kingdom Animalia (). With few exceptions, animals heterotroph, consume organic material, Cellular respiration#Aerobic respiration, breathe oxygen, ...s. Definition To understand the mathematical conditions which lead to underactuation, one must examine the dynamics that govern the systems in question. Newton's laws of motion dictate that the dyn ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Iss066e087003
The International Space Station (ISS) is a large space station that was Assembly of the International Space Station, assembled and is maintained in low Earth orbit by a collaboration of five space agencies and their contractors: NASA (United States), Roscosmos (Russia), European Space Agency, ESA (Europe), JAXA (Japan), and Canadian Space Agency, CSA (Canada). As the largest space station ever constructed, it primarily serves as a platform for conducting scientific experiments in microgravity and studying the space environment. The station is divided into two main sections: the Russian Orbital Segment (ROS), developed by Roscosmos, and the US Orbital Segment (USOS), built by NASA, ESA, JAXA, and CSA. A striking feature of the ISS is the Integrated Truss Structure, which connect the station’s vast system of solar panels and Spacecraft thermal control, radiators to its pressurized modules. These modules support diverse functions, including scientific research, crew habitation, ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Time Horizon
A time horizon, also known as a planning horizon, is a fixed point of time in the future at which point certain processes will be evaluated or assumed to end. It is necessary in an accounting, finance or risk management regime to assign such a fixed horizon time so that alternatives can be evaluated for performance over the same period of time. Although short term horizons such as end of day, end of week, end of month matter in accounting, generally it is mere summing-up and the simplest mark to market processes that take place at these short term horizons. No scenario analysis or mark to future activities are usually undertaken for such short periods, except for very large portfolios. The most common horizons used in planning are one "quarter" (a quarter year, or three months), a year, two years, three years, four years (especially in a representative democracy where this is a quite common term of office and election cycle) and five years (in corporate planning). More far-s ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
PID Controller
PID or Pid may refer to: Medicine * Pelvic inflammatory disease or pelvic inflammatory disorder, an infection of the upper part of the female reproductive system * Primary immune deficiency, disorders in which part of the body's immune system is missing or does not function properly * Prolapsed intervertebral disc, commonly called a herniated disc Science, technology and engineering * BBC Programme Identifier, a unique identifier for a BBC television or radio programme brand, a season or series, or an individual episode * OBD-II PIDs (on-board diagnostics parameter IDs), requests for data through an OBD connector in automotive repair * Packet Identifier, a field in a MPEG transport stream#Packet Identifier (PID), MPEG transport stream packet * Partial information decomposition, an extension of information theory * Passive infrared detector, a passive infrared sensor * Payload Interface Document (used on space engineering program for example) * Persistent identifier, a long-lastin ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Trajectory (other)
A trajectory is the path a moving object follows through space. Types of trajectories include: * trajectory of a projectile **lofted trajectory, a particular type of non-minimum energy ballistic trajectory * trajectory (fluid mechanics), the motion of a point in a moving fluid * in motion planning, the trajectory of a robotic motion * phase space trajectories of dynamical systems Trajectory may also refer to: * Trajectory (DC Comics), a DC Comics character ** Trajectory (The Flash episode), an episode of the U.S. TV series ''The Flash'' that includes the character ** Trajectory (Arrowverse), a fictional character appearing in the Arrowverse television franchise * trajectory hermeneutics, a liberal teaching of Christian Postmodernism * Trajectory Inc., an American ebook platform * trajectory optimization, the process of minimizing or maximizing performance * ''Trajectories'' (magazine), a 1980s tabloid magazine * in finance, the end point from source spending (where the money g ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
MPC Scheme Basic
MPC, Mpc or mpc may refer to: Astronomy * Megaparsec (Mpc), unit of length used in astronomy * Minor Planet Center, Smithsonian Astrophysical Observatory ** ''Minor Planet Circulars'' (MPC, M.P.C. or MPCs), astronomical publication from the Minor Planet Center Businesses * Mai-Liao Power Corporation, Taiwan * Model Products Corporation, model kit manufacturer * Moving Picture Company, a visual effects company, London, UK * MPC, maker of encrypted mobile phones Computing and electronics * Media Player Classic, a software media player * MPC Computers, a former US computer maker * Multimedia PC, a recommended configuration for a personal computer * Multi-Personal Computer, a line of desktop personal computers released by Columbia Data Products * Multi Project Chip, sharing costs across projects * Musepack, an audio codec * Command-line client for the Music Player Daemon * Akai MPC, series of music workstations * Secure multi-party computation * MPC model, a theoretical model for mas ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
State Space
In computer science, a state space is a discrete space representing the set of all possible configurations of a system. It is a useful abstraction for reasoning about the behavior of a given system and is widely used in the fields of artificial intelligence and game theory. For instance, the toy problem Vacuum World has a discrete finite state space in which there are a limited set of configurations that the vacuum and dirt can be in. A "counter" system, where states are the natural numbers starting at 1 and are incremented over time has an infinite discrete state space. The angular position of an undamped pendulum is a continuous (and therefore infinite) state space. Definition State spaces are useful in computer science as a simple model of machines. Formally, a state space can be defined as a tuple [''N'', ''A'', ''S'', ''G''] where: * ''N'' is a Set (mathematics), set of states * ''A'' is a set of arcs connecting the states * ''S'' is a nonempty subset of ''N ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Model Predictive Control
Model predictive control (MPC) is an advanced method of process control that is used to control a process while satisfying a set of constraints. It has been in use in the process industries in chemical plants and oil refineries since the 1980s. In recent years it has also been used in power system balancing models and in power electronics. Model predictive controllers rely on dynamic models of the process, most often linear empirical models obtained by system identification. The main advantage of MPC is the fact that it allows the current timeslot to be optimized, while keeping future timeslots in account. This is achieved by optimizing a finite time-horizon, but only implementing the current timeslot and then optimizing again, repeatedly, thus differing from a linear–quadratic regulator ( LQR). Also MPC has the ability to anticipate future events and can take control actions accordingly. PID controllers do not have this predictive ability. MPC is nearly universally implemente ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
Newton's Laws Of Motion
Newton's laws of motion are three physical laws that describe the relationship between the motion of an object and the forces acting on it. These laws, which provide the basis for Newtonian mechanics, can be paraphrased as follows: # A body remains at rest, or in motion at a constant speed in a straight line, unless it is acted upon by a force. # At any instant of time, the net force on a body is equal to the body's acceleration multiplied by its mass or, equivalently, the rate at which the body's momentum is changing with time. # If two bodies exert forces on each other, these forces have the same magnitude but opposite directions. The three laws of motion were first stated by Isaac Newton in his ''Philosophiæ Naturalis Principia Mathematica'' (''Mathematical Principles of Natural Philosophy''), originally published in 1687. Newton used them to investigate and explain the motion of many physical objects and systems. In the time since Newton, new insights, especially around t ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
