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Journal Articles Numerical Algebra, Control and Optimization Year : 2012

Path planning and collision avoidance for robots

Abstract

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.

Dates and versions

hal-00724869 , version 1 (22-08-2012)

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Matthias Gerdts, René Henrion, Dietmar Hömberg, Chantal Landry. Path planning and collision avoidance for robots. Numerical Algebra, Control and Optimization, 2012, 2 (3), pp.437 - 463. ⟨10.3934/naco.2012.2.437⟩. ⟨hal-00724869⟩

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