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Title: Path planning and collision avoidance for robots : dedicated to Prof. Dr. Helmut Maurer on the occasion of his 65th birthday
Authors: Gerdts, MatthiasHenrion, RenéHömberg, DietmarLandry, ChantalMaurer, Helmut
Issue Date: 2011
Published in: Preprint / Weierstraß-Institut für Angewandte Analysis und Stochastik, Volume 1658, ISSN 0946-8633
Publisher: Berlin : Weierstraß-Institut für Angewandte Analysis und Stochastik
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.
Keywords: Optimal control; collision avoidance; cooperative robots; backface culling; active set strategy
DDC: 510
License: This document may be downloaded, read, stored and printed for your own use within the limits of § 53 UrhG but it may not be distributed via the internet or passed on to external parties.
Dieses Dokument darf im Rahmen von § 53 UrhG zum eigenen Gebrauch kostenfrei heruntergeladen, gelesen, gespeichert und ausgedruckt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden.
Appears in Collections:Mathematik



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