Optimal velocity planning based on the solution of the Euler-Lagrange equations with a neural network based velocity regression

Ghnatios, Chady ; di Lorenzo, Daniele ; Champaney, Víctor ; Cueto, Elías (Universidad de Zaragoza) ; Chinesta, Francisco

Resumen: Trajectory optimization is a complex process that includes an infinite number of possibilities and combinations. This work focuses on a particular aspect of the trajectory optimization, related to the optimization of a velocity along a predefined path, with the aim of minimizing power consumption. To tackle the problem, a functional formulation and minimization strategy is developed, by means of the Euler-Lagrange equation. The minimization is later performed using a neural network approach. The strategy is deemed Lagrange-Net, as it is based on the minimization of the energy functional, by the means of Lagrange's equation and neural network approximations.

Idioma: Inglés

DOI: 10.3934/dcdss.2023080

Año: 2023

Publicado en: Discrete and continuous dynamical systems. Series S 17, 7 (2023), 2323-2333
ISSN: 1937-1632

Factor impacto JCR: 1.3 (2023)

Categ. JCR: MATHEMATICS, APPLIED rank: 124 / 332 = 0.373 (2023) - Q2 - T2

Factor impacto CITESCORE: 3.7 - Discrete Mathematics and Combinatorics (Q1) - Analysis (Q1) - Applied Mathematics (Q2)

Factor impacto SCIMAGO: 0.541 - Analysis (Q2) - Discrete Mathematics and Combinatorics (Q2) - Applied Mathematics (Q2)

Financiación: info:eu-repo/grantAgreement/ES/DGA-FSE/T24-20R
Financiación: info:eu-repo/grantAgreement/EC/H2020/956401/EU/Cross-scale concurrent material-structure design using functionally-graded 3D-printed matematerials/XS-Meta
Financiación: info:eu-repo/grantAgreement/ES/MICINN-AEI/PID2020-113463RB-C31/AEI/10.13039/501100011033
Financiación: info:eu-repo/grantAgreement/ES/UZ/UZ2019-0060

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Mec.Med.Cont. y Teor.Est. (Dpto. Ingeniería Mecánica)