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Author: Landry, Chantal × Subject: collision avoidance ×

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    A coupling of discrete and continuous optimization to solve kinodynamic motion planning problems
    (Berlin : Weierstraß-Institut für Angewandte Analysis und Stochastik, 2013) Landry, Chantal; Welz, Wolfgang; Gerdts, Matthias
    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.
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    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, 2011) Gerdts, Matthias; Henrion, René; Hömberg, Dietmar; Landry, Chantal; Maurer, Helmut
    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.