(Department seminar no. 32)

Time: Feb. 25th, 2016, 11:15
Place: room 208 C-3

Speaker: Dr M. Janiak

Subject: Multiple shooting method

We will present an application of the multiple shooting method in the motion planning of robotics systems represented by a nonlinear control system with output. This representation covers a wide range of systems, from simple nonholonomic systems modeled on kinematics level to complex systems with dynamics. Compared to traditional Newton-type algorithms, typically the multiple shooting method has larger region of convergence, faster local convergence rate and more freedom for initialization. It has also a ability for remarkable parallelization of the most computational demanding algorithm parts. Performance of the algorithm will be illustrated by solving a motion planning problem through waypoints for the skid-steering mobile platform Rex, and by solving a standard motion planning problem for the rolling ball.