Trajectory Planning and Optimal Control

1. What do you mean by trajectory planning?
2. What is optimum trajectory?
3. What is trajectory based algorithm?
4. What is collocation optimal control?

What do you mean by trajectory planning?

Trajectory planning consists in finding a time series of successive joint angles that allows moving a robot from a starting configuration towards a goal configuration, in order to achieve a task, such as grabbing an object from a conveyor belt and placing it on a shelf.

What is optimum trajectory?

Trajectory optimization is the process of designing a trajectory that minimizes (or maximizes) some measure of performance while satisfying a set of constraints. Generally speaking, trajectory optimization is a technique for computing an open-loop solution to an optimal control problem.

What is trajectory based algorithm?

A trajectory-based metaheuristic algorithm such as simulated annealing use a single agent or solution which moves through the design space or search space in a piecewise style. A better move or solution is always accepted, while a not-so-good move can be accepted with certain probability.

What is collocation optimal control?

Direct collocation is a very powerful nonlinear optimization technique in which we approximate state and control using piecewise continuous polynomials, and exploit properties of these polynomials to simplify the involved integration calculations.