Real time trajectory optimization for nonlinear robotic systems: relaxation and convexification

DOI10.1016/J.SYSCONLE.2017.08.004MaRDI QIDQ1678576zbMATH OpenOpenAlexFDO

Authors Changliu Liu, M. Tomizuka

Publication date 17 November 2017

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.sysconle.2017.08.004

zbMATH Keywords

nonconvex optimizationnonlinear optimizationoptimal controlmotion planning

Mathematics Subject Classification ID

Quadratic programming (90C20) Nonconvex programming, global optimization (90C26) Artificial intelligence for robotics (68T40) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 5066287 (Why is no real title available?)
• A new technique for inconsistent QP problems in the SQP method
• Convexification and global optimization in continuous and mixed-integer nonlinear programming. Theory, algorithms, software, and applications
• Revisions of constraint approximations in the successive QP method for nonlinear programming problems

Cited in

(4)

• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
• The convex feasible set algorithm for real time optimization in motion planning
• Solving constrained minimum‐time robot problems using the sequential gradient restoration algorithm
• Tree Based Trajectory Optimization Based on Local Linearity of Continuous Non-Linear Dynamics

Describes a project that uses

Uses Software

• KNITRO

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