Displaying similar documents to “A continuation method for motion-planning problems”

Homotopy method for minimum consumption orbit transfer problem

Joseph Gergaud, Thomas Haberkorn (2006)

ESAIM: Control, Optimisation and Calculus of Variations

Similarity:

The numerical resolution of the low thrust orbital transfer problem around the Earth with the maximization of the final mass or minimization of the consumption is investigated. This problem is difficult to solve by shooting method because the optimal control is discontinuous and a homotopic method is proposed to deal with these difficulties for which convergence properties are established. For a thrust of 0.1 Newton and a final time 50% greater than the minimum one, we obtain 1786 switching...

A continuation method for motion-planning problems

Yacine Chitour (2006)

ESAIM: Control, Optimisation and Calculus of Variations

Similarity:

We apply the well-known homotopy continuation method to address the motion planning problem (MPP) for smooth driftless control-affine systems. The homotopy continuation method is a Newton-type procedure to effectively determine functions only defined implicitly. That approach requires first to characterize the singularities of a surjective map and next to prove global existence for the solution of an ordinary differential equation, the Wazewski equation. In the context of the MPP, the...