Path-Planning with Collision Avoidance in Automotive Industry

Abstract : An optimal control problem to find the fastest collision-free trajectory of a robot is presented. The dynamics of the robot is governed by ordinary differential equations. The collision avoidance criterion is a consequence of Farkas’s lemma and is included in the model as state constraints. Finally an active set strategy based on backface culling is added to the sequential quadratic programming which solves the optimal control problem.
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Dietmar Hömberg; Fredi Tröltzsch. 25th System Modeling and Optimization (CSMO), Sep 2011, Berlin, Germany. Springer, IFIP Advances in Information and Communication Technology, AICT-391, pp.102-111, 2013, System Modeling and Optimization. 〈10.1007/978-3-642-36062-6_11〉
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Chantal Landry, Matthias Gerdts, René Henrion, Dietmar Hömberg. Path-Planning with Collision Avoidance in Automotive Industry. Dietmar Hömberg; Fredi Tröltzsch. 25th System Modeling and Optimization (CSMO), Sep 2011, Berlin, Germany. Springer, IFIP Advances in Information and Communication Technology, AICT-391, pp.102-111, 2013, System Modeling and Optimization. 〈10.1007/978-3-642-36062-6_11〉. 〈hal-01347528〉

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