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The Experimental System
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assumption benefits from real-time benefits of real-time chapter computed constraint equations control efforts cost units developed dissertation dynamic trajectory optimization efficient experimental system exponential factor feedback control feedforward final free-flying robot fuel usage goal granite table improved initial plan initial segment intercept path intercept task intercept trajectory live sensor data minimum-distance minimum-time momentum wheel motion planning moving-target-intercept task on-line planner on-line planning system operate optimizability and planning optimization process parameterization path planning performance analysis performance curve performance index planner-performance curve planner-performance model planning algorithm planning and execution planning problem planning speed plot shows point-to-point move position post-intercept segments predictable environment reactive planner real-time dynamic trajectory real-time planner real-time planning system robot system seconds shown in Figure snapshot solve specific spent planning static environment subplans target intercept technique theoretical analysis thruster commands thruster-seconds time-parameterization total cost trajectory optimization system unexpected events velocity versus vision system zero