A human-inspired subgoal-based approach to constrained optimal control

Andrew Feit, Abhishek Verma, Berenice F Mettler May

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper investigates the application of human motion guidance principles to the development of an autonomous guidance process. Primarily, it extends previous work, which identifies the organization of human guidance performance given by trajectory data. First, the paper describes interaction patterns (IP), subgoals, and partitions and defines these elements in terms of control theoretical concepts. Second, IPs are applied to form a computational solution to a constrained optimal control problem and simulation results demonstrate that this approach produces feasible solutions. Finally, first-person human experimental results are provided to validate theoretical concepts.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1289-1296
Number of pages8
ISBN (Electronic)9781479978861
DOIs
StatePublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

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Feit, A., Verma, A., & Mettler May, B. F. (2015). A human-inspired subgoal-based approach to constrained optimal control. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 1289-1296). [7402389] (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402389