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This paper reports a novel result: with proper robot models based on geometric mechanics, one can formulate the kinodynamic motion planning problems for rigid body systems as exact polynomial optimization problems. Due to the nonlinear rigid body dynamics, the motion planning problem for rigid body systems is nonconvex. Existing global optimization-based methods do not parameterize 3D rigid body motion efficiently; thus, they do not scale well to long-horizon planning problems. We use Lie groups as the configuration space and apply the variational integrator to formulate the forced rigid body dynamics as quadratic polynomials. Then, we leverage Lasserre’s hierarchy of moment relaxation to obtain the globally optimal solution via semidefinite programming. By leveraging the sparsity of the motion planning problem, the proposed algorithm has linear complexity with respect to the planning horizon. This paper demonstrates that the proposed method can provide globally optimal solutions or certificates of infeasibility at the second-order relaxation for 3D drone landing using full dynamics and inverse kinematics for serial manipulators. Moreover, we extend the algorithms to multi-body systems via the constrained variational integrators. The testing cases on cart-pole and drone with cable-suspended load suggest that the proposed algorithms can provide rank-one optimal solutions or nontrivial initial guesses. Finally, we propose strategies to speed up the computation, including an alternative formulation using quaternion, which provides empirically tight relaxations for the drone landing problem at the first-order relaxation.
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A global algorithm for AC optimal power flow based on successive linear conic optimization
Newly, there has been significant research interest in the exact solution of the AC optimal power flow (AC-OPF) problem. A semideflnite relaxation solves many OPF problems globally. However, the real problem exists in which the semidefinite relaxation fails to yield the global solution. The appropriation of relaxation for AC-OPF depends on the success or unfulflllment of the SDP relaxation. This paper demonstrates a quadratic AC-OPF problem with a single negative eigenvalue in objective function subject to linear and conic constraints. The proposed solution method for AC-OPF model covers the classical AC economic dispatch problem that is known to be NP-hard. In this paper, by combining successive linear conic optimization (SLCO), convex relaxation and line search technique, we present a global algorithm for AC-OPF which can locate a globally optimal solution to the underlying AC-OPF within given tolerance of global optimum solution via solving linear conic optimization problems. The proposed algorithm is examined on modified IEEE 6-bus test system. The promising numerical results are described.
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- Award ID(s):
- 1851602
- PAR ID:
- 10079395
- Date Published:
- Journal Name:
- 2017 IEEE Power & Energy Society General Meeting
- Page Range / eLocation ID:
- 1 to 5
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/PESGM.2017.8273957
