Motion optimization using state-dispersion-based phase space partitions

Chyon Hae Kim*, Shota Yamazaki, Shigeki Sugano

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


This paper addresses a phase space partitioning problem in motion planning systems. A class of kinematic and dynamic motion planning systems, including rapid semioptimal motion-planning (RASMO), uses partitions for phase spaces in cumulative optimization criteria. In these systems, a partition results in a uniquely planned motion with a quality that is determined by a selected optimization criterion. In this paper, state-dispersion-based phase space partitioning (SDPP) that generates adaptive partitions is proposed. These partitions allow the motion planning systems to plan better motions. Uniform partitions and adaptively fixed partitions of SDPP are compared under several conditions using RASMO and a double inverted pendulum model while setting the optimality criterion of RASMO to time. The results reveal that RASMO with SDPP plans smaller time motions than those obtained with RASMO using uniform partitions.

Original languageEnglish
Pages (from-to)159-173
Number of pages15
JournalMultibody System Dynamics
Issue number2
Publication statusPublished - 2014 Aug


  • Dynamics
  • Inverted pendulum
  • Motion planning
  • Optimization
  • Partitioning

ASJC Scopus subject areas

  • Modelling and Simulation
  • Aerospace Engineering
  • Mechanical Engineering
  • Computer Science Applications
  • Control and Optimization


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