Title:

Time-optimal trajectory planning in dynamic environments

Subtitle:

Recent Developments in Robotics

Group publication title:

AMCS, volume 7 (1997)

Creator:

Fiorini, Paolo ; Shiller, Zvi

Subject and Keywords:

sterowanie ; sztuczna inteligencja ; informatyka ; sterowanie-teoria ; matematyka stosowana

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

Contributor:

Kozłowski, Krzysztof - ed.

Date:

1997

Resource Type:

artykuł

Pages:

433-458

Source:

AMCS, volume 7, number 2 (1997)

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego