Accession Number : ADA337010

Title :   Motion Planning for Energy Management in Autonomous Vehicles.

Descriptive Note : Final rept. 1 Sep 94-31 Aug 97,

Corporate Author : BOSTON UNIV MA DEPT OF AEROSPACE AND MECHANICAL ENGINEERING

Personal Author(s) : Baillieul, John

PDF Url : ADA337010

Report Date : 31 OCT 1997

Pagination or Media Count : 29

Abstract : This report provides a technical overview of research supported under an AASERT (Augmentation Awards for Science and Engineering Research Training) grant administered by the U.S. Air Force Office of Scientific Research. The grant was tied to a parent grant AFOSR-90-0226 and its follow-on F49620-96-1-0059, both of which bear the title 'The Nonlinear Control Theory of Complex Mechanical Systems'. The period of performance of the subject ASSERT grant was Sep 94 through Aug 97. Funds from this grant were used to support the PhD thesis research of Geoffrey Howell as stipulated in the original proposal submitted in the Fall of 1993. Mr. Howell is expected to finish his dissertation and all degree requirements this year. The research described in this report (and which will be reported in greater detail in Geoff Howell's dissertation) is concerned with two interrelated themes in the control of super-actuated (or underactuated) mechanical systems: (1) how to control the degrees of freedom which are directly actuated without eliciting undesired behavior in the unactuated degrees of freedom, and (2) how to prescribe motions of the directly actuated degrees of freedom to achieve motion objectives for the degrees of freedom which are not directly controlled.

Descriptors :   *MOTION, *CONTROL THEORY, *ENERGY MANAGEMENT, REQUIREMENTS, DEGREES OF FREEDOM, NONLINEAR SYSTEMS, ENGINEERING, PLANNING, SELF OPERATION, VEHICLES, MECHANICAL COMPONENTS.

Subject Categories : Non-electrical Energy Conversion
      Theoretical Mathematics

Distribution Statement : APPROVED FOR PUBLIC RELEASE