Closed Loop Trajectory Optimization Based on Reverse Time Tree

This paper addresses the general methods for creating the approximately optimal closed loop stabilizationcontrollers that depend on given rigid body systems. The optimal stabilization controllers calculate the optimal force(torque) inputs that depend on the current states of the systems. In this paper, a creation method for approximatelyoptimal controllers named closed loop optimizer based on reverse time tree (CLO-RTT) is proposed. In the openloop optimization phase, this method creates approximately optimal open loop solutions using rapid semi-optimalmotion planning (RASMO). In the closed loop optimization phase, this method selects a solution from the RTTaccording to the measured current state of a system. The proposed method was validated in the time optimalstabilization problem of a double inverted pendulum model. The proposed method successfully stabilized themodel quickly. When the resolution of RASMO was higher, the motion time was shorter. KCI Citation Count: 4