Path planning and collision avoidance for robots : dedicated to Prof. Dr. Helmut Maurer on the occasion of his 65th birthday

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.

URI

https://doi.org/10.34657/2997
https://oa.tib.eu/renate/handle/123456789/2441

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Mathematik
WIAS Preprints

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This document may be downloaded, read, stored and printed for your own use within the limits of § 53 UrhG but it may not be distributed via the internet or passed on to external parties.
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