Path planning and collision avoidance for robots

Matthias Gerdts; René Henrion; Dietmar Hömberg; Chantal Landry

doi:10.3934/naco.2012.2.437

Article Contents

2012, Volume 2, Issue 3: 437-463. Doi: 10.3934/naco.2012.2.437

This issue Previous Article Preface Next Article Model reduction techniques with a-posteriori error analysis for linear-quadratic optimal control problems

Path planning and collision avoidance for robots

1.
Institute of Mathematics and Applied Computing (LRT), University of the Federal Armed Forces at Munich, Werner-Heisenberg-Weg 39, 85577 Neubiberg
2.
Weierstrass Institute for Applied Analysis and Stochastics, Mohrenstraße 39, 10117 Berlin
3.
Weierstrass Institute for Applied Analysis and Stochastics, Mohrenstraße 39, 10117 Berlin

Received: October 2011

Revised: December 2011

Published: July 2012

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Abstract

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.

Keywords:

Mathematics Subject Classification: Primary: 49J15, 49M25, 49N90; Secondary: 90C30.

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