Nonlinear model predictive control of hopping model using approximate step-to-step models for navigation on complex terrain
Ali Zamani,Pranav A. Bhounsule,Ali Zamani,Pranav A. Bhounsule
We consider the motion planning problem of a hopper navigating a terrain comprising stepping stones while optimizing an energy metric. The most widely used approach of discrete searches (e.g., A-star) cannot handle boundary conditions (e.g., end path constraints on position, velocity). However, continuous optimizations can easily deal with the boundary value problem but are not widely used in moti...
