Path planning and collision avoidance for robots

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.
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Numerical Algebra, Control and Optimization, AIMS, 2012, 2 (3), pp.437 - 463. 〈10.3934/naco.2012.2.437〉
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Contributeur : Estelle Bouzat <>
Soumis le : mercredi 22 août 2012 - 19:57:34
Dernière modification le : lundi 21 mars 2016 - 11:34:44

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Matthias Gerdts, René Henrion, Dietmar Hömberg, Chantal Landry. Path planning and collision avoidance for robots. Numerical Algebra, Control and Optimization, AIMS, 2012, 2 (3), pp.437 - 463. 〈10.3934/naco.2012.2.437〉. 〈hal-00724869〉

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