TY - GEN
T1 - Receding horizon trajectory optimization with a finite-state value function approximation
AU - Mettler May, Berenice F
AU - Kong, Zhaodan
PY - 2008
Y1 - 2008
N2 - This paper describes a finite-horizon receding horizon trajectory optimization scheme which uses an approximation of the value function to provide cost-to-go (CTG) and associated state information. The value function approximation is computed using a finite-state, motion primitive automaton approximation of the vehicle dynamics. Using an actual value function approximation instead of heuristic CTG allows a tighter integration between the planning and control layers needed for vehicles operating in challenging spatial environments. It also enables a more rigorous use of the receding horizon control framework for autonomous control applications. The paper describes the finite-state value function approximation and its integration into the receding horizon scheme. Simulation examples illustrate the scheme's capabilities and highlight interesting open issues that will need to be addressed to take full advantage of the approach.
AB - This paper describes a finite-horizon receding horizon trajectory optimization scheme which uses an approximation of the value function to provide cost-to-go (CTG) and associated state information. The value function approximation is computed using a finite-state, motion primitive automaton approximation of the vehicle dynamics. Using an actual value function approximation instead of heuristic CTG allows a tighter integration between the planning and control layers needed for vehicles operating in challenging spatial environments. It also enables a more rigorous use of the receding horizon control framework for autonomous control applications. The paper describes the finite-state value function approximation and its integration into the receding horizon scheme. Simulation examples illustrate the scheme's capabilities and highlight interesting open issues that will need to be addressed to take full advantage of the approach.
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U2 - 10.1109/ACC.2008.4587087
DO - 10.1109/ACC.2008.4587087
M3 - Conference contribution
AN - SCOPUS:52449129557
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 3810
EP - 3816
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -