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| File | Size | Format | |
|---|---|---|---|
| 688542824.pdf | 1,1 MB | Adobe PDF | View/Open |
| Title: | Path planning and collision avoidance for robots : dedicated to Prof. Dr. Helmut Maurer on the occasion of his 65th birthday |
| Authors: | Gerdts, Matthias; Henrion, René; Hömberg, Dietmar; Landry, Chantal; Maurer, 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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