• Engineering, Computer Science
  • Published in ArXiv 2017

Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments

@article{Choudhury2017HybridDI,
  title={Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments},
  author={Shushman Choudhury and Yifan Hou and Gilwoo Lee and Siddhartha S. Srinivasa},
  journal={ArXiv},
  year={2017},
  volume={abs/1710.05231}
}
We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments. To the best of our knowledge, this is the first attempt to have a locally optimal solution for this specific problem setting. Our approach extends an optimal control algorithm for hybrid dynamical systems in the obstacle-free case to environments with obstacles. Our method does not require any preset mode sequence or heuristics to prune the exponential search of mode sequences… CONTINUE READING

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