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Author: Landry, Chantal × Subject: robotics ×

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    Collision detection between robots moving along specified trajectories
    (Berlin : Weierstraß-Institut für Angewandte Analysis und Stochastik, 2013) Feyeux, Nelson; Landry, Chantal
    An algorithm to detect collisions between robots moving along given trajectories is presented. The method is a combination of the adaptive dynamic collision checking developed by Schwarzer et al. and Lin and Cannys algorithm, which computes efficiently the distance between two polyhedra. The resulting algorithm is part of a global model that computes the optimal task assignment, sequencing and kinodynamic motion planning in a robotic work-cell.
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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.