Online trajectory planning and observer based control
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(155) #.
(156) !"#$ &% '( "#$ *)(++ , Motion Planner Intermediate Objectives/ Constraints. Path Planner. Reference Trajectory. Traj. Planner. y02P+M C,>i +FF8+=,=05g I5>b;>7G 813-w8+=?0L/,028+9=&8E/?A >b138/,028+9z- IH69 9 059 P3- C,8g I5> 1:v =?813>i-6C/O=.8EW/?A>@=/O6/?>3\>7Gf/,8CXvo E&6I2IF/?A >@=/,6/?>i\6C,056g I5>7=.9 >7G >7=,=?6C?<zEj8C/?A >@G"8+9+/,C?8+I ; >7=?02P+9bG769b9 8/gw>q;02C,>7G"/?I5<.13>76+=MC?>X;JT7YA05GOAb0H=]6B/<- 0HG 6I+=?0L/,M6/,028+9b029oG"8+1i- I5> b=<=/?>713=7T 6//,> 9+/,028+9[1oM=/&gw>.;05C?>XGf/,>7;3/?8Y&6CO; = .- $ i/?A> 1:v BA 0H=W0H=q6+G,A 05> \+>7;3g<@;>7=?02P+9 029P 69
(157) /.- !0 !fT+YA 8 =>&/O6=?SN0H=F/?8bC?>XG"8+9=/,C?M^Gf/F130H=?=?059 Pb=/O6/,>B059Ej8C,1@6/,028+9RYA 05I5>89 I5<oM=059 P 6(\602IH6gI2>e13>76=?M C,> 13> 9 /,=7T y vq.g=?> C,\> CO=&6C,>;> k9 >7;z138C,>eC,05P8C,8M=?I2<@029 >7G"/?0589 # v2 +v High−level objectives & constraints Task Assignment Intermediate objectives & constraints Motion Planner. x. x ˆ. 2365. Motion Control. u. Observer. 24365. Robot Actuator. y uc. Vehicle/Plant. y05PM C,>N#FF8+=,=05g I5>b=/,C?M^Gf/?MC?>8EF6i138; M I56CG 89+/,C?8+IJ=?<=/,> 1:v C,6 )>7G"/?8+C?< - IH69 9029 P 69;V8g^=>7C?\>7CZ;>7=?05P9 6C,> gw8/,A \0L/O6I=M g! - C,8g I5> 1@=Z029 /?A > G C?>X6/,028+9V8ER6M /?898138M=ZC,8gw8/O= v BA > <V6C?> A 8Yq>7\> Cn9 8/n/?A >t89 I5< - C,8g I5> 1@=[/,A6/ A^6X\>e/?8@gw>b6;;C?>X=?=?>7;JvWh/?A >7C0213-w8+C/O69+/6+=-w>XGf/,=B059G"I5M;>bA 05PA#I2>7\> Il/,6+=SZ6+=?=?02P+9 13> 9 / _ 1 11@6S059 P:=/?CO6/,> P0HGoP+I28+g6IF- IH69^=,d"T]G 89+/,C?8+I2I5> Cb;>7=?02P+9rT]6+Gf/?M^6/?8+C; >7=05P+9t69;t=?> 9=?8C EjM^=0589rv -w8 =?=?02gI2>+T 69;@C,6/?A >7CWG I56+=?=?0HGT =/,C?MG"/?M C,>Ej8C&;>7G 813-w8+=?059 P/,A >h8\> CO6I5I=<=/?>71 6C,GOA 02/?>XGf/?MC?>TJA6+=eg^>7> 9t; > - 0HGf/,>7;u029 05PMC?>@#vR]C,M I5< 8-/,05136I ;>7=?05P9u8E&6M/,89 8+138M= C,8gw8/?0HGn=<=/?> 1@=iC?>Xm M 02C,>7=iG"8+9G"MC?C,> 9 /3=8+I2M/,028+9 8Ee6I5I&/?A>7=?>:=Mg!*- C,8gI2>713=7v MG,A 69 6- - C,8+6+G,AN0H=FA 8(Y&> \> CFgw> <89^;o8M C G"M C,C,> 9+/FM 9^;> CO=/O69;059 Pe8E/,A >7=?>&0H=,=M >X= vy.=F6.96/?M CO6I =/?>7- /?A >79rTJYq>RI205130L/8+M C,=?> I5\>7=/?8z6[138; M I56Ce69; =?M g! 8-/,021@6IF;>7=?05P9 =,G,A> 13>TlYA >7C?> 8+9 I5<[-6C/O=&8E/?A >b059+/,> CO6G"/?0589=Bgw>"/Yq> >79n/,A >b138;M I5>7=6C?>bG"8+M 9+/?>X;ZEj8+C7v.
(158) . . . . . . . CO6 )>7Gf/,8C,<b- IH69 9 059 PN6C,05=?>7=F6+= 6e96/?M CO6I 69;R\02/,6I=?M g! - C?8+g I5> 1 8Ew/?A >9 8g I5>61og 02/?0589 /,8o;>7=?05P9@69@6M /?898138M=s=?<=/?>71:vs.9G">0213- I5> 13> 9 /?>X;JT 02/WI502E /,=s/?A >.m M >7=/?0589@8EJ\> A 0HG"I5> G 89 /?C,8I /,8R6NA 05PA > CqI5> \>7IT YA >7C?>/?A>h059 - M /B;>7=,G"C,05-/?0589=WY02I5Il=-w>XG"02Ej<R/,A >.96/,M C,>8EJ/?A > /O6=?S3/?83gw>G 6C?C,05>7;[8M/XTCO6/,A > C&/?A69
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