Robot path planning in a constrained workspace by using optimal control techniques

DOI10.1007/S11044-007-9059-1MaRDI QIDQ926510zbMATH OpenOpenAlexWikidataFDO

Authors Rogério R. dos Santos, Valder jun. Steffen, Sezimária de Fátima Pereira Saramago

Publication date 20 May 2008

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-007-9059-1

zbMATH Keywords

method of objective weightingmulticriteria optimal controlserial robot manipulator

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Review text

This paper presents a new methodology to perform the optimal path planning of robot manipulators in the presence of moving obstacles. The performed computations indicate that the existence of obstacles in the workspace increases the total mechanical power needed to achieve obstacle avoidance conditions, as compared with the trajectory obtained for the obstacle-free workspace case. Numerical simulations illustrate that the present techniques can be useful for the design of robot controllers.

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Cited in

(19)

• Construction of optimal programmed paths for the motion of a robotic manipulator
• Effect of basic numerical parameters on a path planning of robots taking into account actuating energy.
• Optimal trajectory planning of robot manipulators in the presence of moving obstacles
• DP-based path planning of a spherical mobile robot in an environment with obstacles
• Hamiltonian path planning in constrained workspace
• Optimization of collision-free paths in a differential-drive robot by a smoothing piecewise-linear approach
• Optimal motion planning of non-linear dynamic systems in the presence of obstacles and moving boundaries using SDRE: application on cable-suspended robot
• Combining discrete and continuous optimization to solve kinodynamic motion planning problems
• Trajectory planning in workspaces with obstacles taking into account the dynamic robot behaviour
• Robot path planning based on concept lattice
• Optimal control of robotic manipulators in the presence of obstacles
• Lyapunov-based kinematic path planning for a 3-link planar robot arm in a structured environment
• Energy-optimal trajectory planning for robot manipulators with holonomic constraints
• Path planning in the presence of obstacles based on task requirements
• ON THE PATH PLANNING PROBLEM IN THE VICINITY OF OBSTACLES
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• The planning of the trajectory of UAV group with the performance of Pythagorean Hodograph and Bernstein-Bezier composite curves in the plane
• Obstacle avoidance path planning for expressway hedgerow pruning robot manipulator
• Collision free path planning for welding robot based on Lévy-PSO

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