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Title: Time-optimal trajectory planning in dynamic environments

Creator:

Fiorini, Paolo ; Shiller, Zvi

Date:

1997

Resource Type:

artykuł

Contributor:

Kozłowski, Krzysztof - ed.

Subtitle:

Recent Developments in Robotics

Group publication title:

AMCS, volume 7 (1997)

Abstract:

This paper presents a direct method for computing the time-optimal trajectory for a robot among stationary and moving obstacles, subject to the robot's dynamics and actuator constraints. The motion planning problem is first formulated as an optimization problem, and then solved numerically using a gradient descent. The initial guess for the optimization is generated using a method based on the concept of Velocity Obstacles. The method is demonstrated for a 2-DOF planar manipulator moving in static and dynamic environments.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Resource Identifier:

oai:zbc.uz.zgora.pl:57820

Pages:

433-458

Source:

AMCS, volume 7, number 2 (1997) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego

Subject and keywords:

sterowanie sterowanie-teoria sztuczna inteligencja matematyka stosowana informatyka

Object collections:

Last modified:

Sep 2, 2021

In our library since:

Nov 18, 2020

Number of object content hits:

248

All available object's versions:

https://zbc.uz.zgora.pl/publication/64503

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Time-optimal trajectory planning in dynamic environments Sep 2, 2021

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