(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.
