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

Citation

Gerdts, M., Henrion, R., Hömberg, D., Landry, C., & Maurer, H. (2011). Path planning and collision avoidance for robots : dedicated to Prof. Dr. Helmut Maurer on the occasion of his 65th birthday. Berlin : Weierstraß-Institut für Angewandte Analysis und Stochastik.

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Mathematik
WIAS Preprints

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