A coupling of discrete and continuous optimization to solve kinodynamic motion planning problems
dc.bibliographicCitation.seriesTitle | WIAS Preprints | eng |
dc.bibliographicCitation.volume | 1900 | |
dc.contributor.author | Landry, Chantal | |
dc.contributor.author | Welz, Wolfgang | |
dc.contributor.author | Gerdts, Matthias | |
dc.date.accessioned | 2016-03-24T17:37:13Z | |
dc.date.available | 2019-06-28T08:15:23Z | |
dc.date.issued | 2013 | |
dc.description.abstract | A new approach to find the fastest trajectory of a robot avoiding obstacles, is presented. This optimal trajectory is the solution of an optimal control problem with kinematic and dynamics constraints. The approach involves a direct method based on the time discretization of the control variable. We mainly focus on the computation of a good initial trajectory. Our method combines discrete and continuous optimization concepts. First, a graph search algorithm is used to determine a list of via points. Then, an optimal control problem of small size is defined to find the fastest trajectory that passes through the vicinity of the via points. The resulting solution is the initial trajectory. Our approach is applied to a single body mobile robot. The numerical results show the quality of the initial trajectory and its low computational cost. | eng |
dc.description.version | publishedVersion | eng |
dc.format | application/pdf | |
dc.identifier.issn | 0946-8633 | |
dc.identifier.uri | https://doi.org/10.34657/1789 | |
dc.identifier.uri | https://oa.tib.eu/renate/handle/123456789/3021 | |
dc.language.iso | eng | eng |
dc.publisher | Berlin : Weierstraß-Institut für Angewandte Analysis und Stochastik | eng |
dc.relation.issn | 0946-8633 | eng |
dc.rights.license | 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. | eng |
dc.rights.license | Dieses Dokument darf im Rahmen von § 53 UrhG zum eigenen Gebrauch kostenfrei heruntergeladen, gelesen, gespeichert und ausgedruckt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. | ger |
dc.subject.ddc | 510 | eng |
dc.subject.other | Trajectory planning | eng |
dc.subject.other | optimal control problem | eng |
dc.subject.other | collision avoidance | eng |
dc.subject.other | graph search algorithm | eng |
dc.subject.other | initialization | eng |
dc.subject.other | robotics | eng |
dc.title | A coupling of discrete and continuous optimization to solve kinodynamic motion planning problems | eng |
dc.type | Report | eng |
dc.type | Text | eng |
tib.accessRights | openAccess | eng |
wgl.contributor | WIAS | eng |
wgl.subject | Mathematik | eng |
wgl.type | Report / Forschungsbericht / Arbeitspapier | eng |
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