PROJECT TITLE :

Stochastic Extended LQR for Optimization-Based Motion Planning Under Uncertainty

ABSTRACT:

We have a tendency to introduce a novel optimization-based mostly motion planner, the stochastic extended linear quadratic regulator (SELQR), which computes a trajectory and associated linear control policy with the objective of minimizing the expected value of a user-outlined cost function. SELQR applies to robotic systems that have stochastic nonlinear dynamics with motion uncertainty modeled by Gaussian distributions which will be state- and management-dependent. In every iteration, SELQR uses a combination of forward and backward price iteration to estimate the price-to-come and the price-to-select every state along a trajectory. SELQR then regionally optimizes each state along the trajectory at each iteration to attenuate the expected total value, which results in smoothed states that are used for dynamics linearization and cost perform quadratization. SELQR progressively improves the approximation of the expected total cost, ensuing in higher quality plans. For applications with imperfect sensing, we tend to extend SELQR to arrange within the robot’s belief space. We tend to show that our iterative approach achieves fast and reliable convergence to high-quality plans in multiple simulated scenarios involving a car-like robot, a quadrotor, and a medical steerable needle performing a liver biopsy procedure.


Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here


PROJECT TITLE :Stochastic Geometry Analysis of Coordinated Beamforming Small Cell Networks With CSI Delay - 2018ABSTRACT:This letter characterizes the performance of coordinated beamforming (CBF) in frequency division duplex systems
PROJECT TITLE :Stochastic Routing and Scheduling Policies for Energy Harvesting Communication Networks - 2018ABSTRACT:During this Project, we have a tendency to study the joint routing-scheduling downside in energy harvesting
PROJECT TITLE :Spatial Field Reconstruction and Sensor Selection in Heterogeneous Sensor Networks With Stochastic Energy Harvesting - 2018ABSTRACT:We tend to address the two fundamental issues of spatial field reconstruction and
PROJECT TITLE :Optimal Sequential Fusion Estimation With Stochastic Parameter Perturbations, Fading Measurements, and Correlated Noises - 2018ABSTRACT:This Project focuses on the linear optimal recursive sequential fusion filter
PROJECT TITLE :Asynchronous Incremental Stochastic Dual Descent Algorithm for Network Resource Allocation - 2018ABSTRACT:Stochastic network optimization problems entail finding resource allocation policies that are optimum on

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry