Path planning and collision avoidance for robots
This paper present the calculation of a time optimal trajectory of a robot where obstacles must be taken into account. For this purpose, the authors employ linear programming arguments to model the collision avoidance strategy and a sequential quadratic programming technique to compute the optimal control. Since this approach may lead to very large problems, the authors incorporate a so-called backface culling active set strategy to reduce the number of state constraints. This key feature of the proposed method is discussed and analysed in detail. Detailed numerical results are presented for a 3-link robot. A detailed model of this robot is also given in the paper.
- Robot collision-free path planning utilizing gauge function
- Real-time collision-free path planning for robots in configuration space
- Collision-free path planning and modification based on task requirements.
- scientific article; zbMATH DE number 426008
- Robust motion planning and control of mobile robots for collision avoidance in terrains with moving objects
- A fast approach for robot motion planning
- Real-time collision-free path planning for robots in configuration space
- Robot collision-free path planning utilizing gauge function
- On-line planning for collision avoidance on the nominal path
- Speed planning for a maneuvering motion
- Robust motion planning and control of mobile robots for collision avoidance in terrains with moving objects
- Hamiltonian path planning in constrained workspace
- Optimal and suboptimal motion planning for collision avoidance of mobile robots in non-stationary environments
- Safe interval path planning and flatness-based control for navigation of a mobile robot among static and dynamic obstacles
- Combining discrete and continuous optimization to solve kinodynamic motion planning problems
- Exploring collision-free path planning by using homotopy continuation methods
- Collision-free piecewise quadratic spline with regular quadratic obstacles
- The Euler scheme for state constrained ordinary differential inclusions
- Minimum distance collision-free path planning for industrial robots with a prismatic joint
- scientific article; zbMATH DE number 4164238 (Why is no real title available?)
- scientific article; zbMATH DE number 3900595 (Why is no real title available?)
- scientific article; zbMATH DE number 4074554 (Why is no real title available?)
- Collision-avoidance trajectory planning using tube concept: Analysis and simulation
- scientific article; zbMATH DE number 52637 (Why is no real title available?)
- scientific article; zbMATH DE number 1160333 (Why is no real title available?)
- Direct optimal control and model predictive control
- ROBOT PATH PLANNING BASED ON MODIFIED GREY RELATIONAL ANALYSIS
- scientific article; zbMATH DE number 1874280 (Why is no real title available?)
- Path-planning with collision avoidance in automotive industry
- Route Planning for Robot Systems
- Inter-sample avoidance in trajectory optimizers using mixed-integer linear programming
- Collision free path planning for welding robot based on Lévy-PSO
- scientific article; zbMATH DE number 2246340 (Why is no real title available?)
- Trajectory optimization with obstacles avoidance via strong duality equivalent and hp‐pseudospectral sequential convex programming
- Minimum-time optimal control of robotic manipulators based on Hamel's integrators
- On the use of ellipsoidal estimation techniques in the RRT* suboptimal pathfinding algorithm
- Approximation of reachable sets using optimal control and support vector machines
- A problem on time-optimal control for a mobile object in a plane under phase constraints
- Robot path planning in a constrained workspace by using optimal control techniques
This page was built for publication: Path planning and collision avoidance for robots
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1760185)
