Path planning and collision avoidance for robots
Zitieren Sie bitte immer diese URN: urn:nbn:de:0296-matheon-9103
An optimal control problem to find the fastest collision-free trajectory of a robot surrounded by obstacles is presented.
The collision avoidance is based on linear programming arguments and expressed as state constraints. The optimal control problem is
solved with a sequential programming method. In order to decrease the number of unknowns and constraints a backface culling active set
strategy is added to the resolution technique.
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| Author: | Matthias Gerdts, René Henrion, Dietmar Hömberg, Chantal Landry |
|---|---|
| URN: | urn:nbn:de:0296-matheon-9103 |
| Referee: | Fredi Tröltzsch |
| Language: | English |
| Date of first Publication: | 31.10.2011 |
| Tag: | active set strategy; backface culling; Optimal control; collision avoidance; cooperative robots |
| Institute: | Weierstraß-Institut für Angewandte Analysis und Stochastik (WIAS) |
| Project: | C30 Automatic reconfiguration of robotic welding cells |
| MSC-Classification: | 49-XX CALCULUS OF VARIATIONS AND OPTIMAL CONTROL; OPTIMIZATION [See also 34H05, 34K35, 65Kxx, 90Cxx, 93-XX] |
| 49Jxx Existence theories | |
| 49Mxx Numerical methods [See also 90Cxx, 65Kxx] | |
| 49Nxx Miscellaneous topics | |
| 90C30 Nonlinear programming | |
| 90Cxx Mathematical programming [See also 49Mxx, 65Kxx] | |
| Preprint Number: | #823 |
