Path planning and collision avoidance for robots
- Gerdts, Matthias
- Henrion, René
- Hömberg, Dietmar
- Landry, Chantal
2010 Mathematics Subject Classification
- 49J15 49M25 49N90 90C30
- Optimal control, collision avoidance, cooperative robots, backface culling, active set strategy
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.
- Numer. Algebra Control Optim., 2 (2012) pp. 437--463.