Optimal trajectory planning combining model-based and data-driven hybrid approaches

Ghnatios, Chady ; Di Lorenzo, Daniele ; Champaney, Victor ; Ammar, Amine ; Cueto, Elias (Universidad de Zaragoza) ; Chinesta, Francisco

Resumen: Trajectory planning aims at computing an optimal trajectory through the minimization of a cost function. This paper considers four different scenarios: (i) the first concerns a given trajectory on which a cost function is minimized by a acting on the velocity along it; (ii) the second considers trajectories expressed parametrically, from which an optimal path and the velocity along it are computed; (iii), the case in which only the departure and arrival points of the trajectory are known, and the optimal path must be determined; and finally, (iv) the case involving uncertainty in the environment in which the trajectory operates. When the considered cost functions are expressed analytically, the application of Euler–Lagrange equations constitutes an appealing option. However, in many applications, complex cost functions are learned by using black-box machine learning techniques, for instance deep neural networks. In such cases, a neural approach of the trajectory planning becomes an appealing alternative. Different numerical experiments will serve to illustrate the potential of the proposed methodologies on some selected use cases.

Idioma: Inglés

DOI: 10.1186/s40323-024-00266-2

Año: 2024

Publicado en: Advanced modeling and simulation in engineering sciences 11, 1 (2024), 19 pp.
ISSN: 2213-7467

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/MCIN/AEI/10.13039/501100011033

Tipo y forma: Article (Published version)

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