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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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https://hal.inria.fr/hal-00724869
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Submitted on : Wednesday, August 22, 2012 - 7:57:34 PM
Last modification on : Saturday, May 29, 2021 - 7:18:08 PM

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

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