Multistage approach for trajectory optimization for a wheeled inverted pendulum passing under an obstacle.
Christian ZaunerHubert GattringerAndreas MüllerPublished in: Robotica (2023)
Keyphrases
- multistage
- inverted pendulum
- stochastic programming
- mobile robot
- stochastic optimization
- feedback control
- intelligent control
- nonlinear systems
- simulation study
- dynamic programming
- single stage
- control algorithm
- fuzzy systems
- fuzzy controller
- initial conditions
- closed loop
- optimal policy
- optimization algorithm
- neural network