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軌跡/運動規劃,最優控制 optimal control,trajectory optimization and planning

 

機器人運動/軌跡規劃問題可定義一個最優控制/隨機最優控制問題。通過線性/非線性規劃求解器來求解軌跡規劃問題。

Some useful links:

1. Deep Reinforcement Learning and Control

"Optimal Control, TrajectoryOptimization, Learning Dynamics"點選開啟連結

"Optimal Control, TrajectoryOptimization, and Planning"點選開啟連結

2. optimal control

"optimal control" -Benoit Chachuat 

點選開啟連結

 

3. Related code

 

"Optimal Control Using Control Vector Parameterization"點選開啟連結

"iLQG/DDP trajectory optimization"點選開啟連結

4. Active slam

 

Optimiaztion metric : Optimal design optimal design​​​​​​​

注:以上鍊接均來自網路轉載