Receding horizon trajectory optimization with a finite-state value function approximation

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

17 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Pages3810-3816
Number of pages7
DOIs
StatePublished - Sep 30 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2008 American Control Conference, ACC
CountryUnited States
CitySeattle, WA
Period6/11/086/13/08

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    Mettler May, B. F., & Kong, Z. (2008). Receding horizon trajectory optimization with a finite-state value function approximation. In 2008 American Control Conference, ACC (pp. 3810-3816). [4587087] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2008.4587087