A coupling of discrete and continuous optimization to solve kinodynamic motion planning problems
A coupling of discrete and continuous optimization to solve kinodynamic motion planning problems
- New search for: Landry, Chantal
- New search for: Welz, Wolfgang
- New search for: Gerdts, Matthias
- New search for: Landry, Chantal
- New search for: Welz, Wolfgang
- New search for: Gerdts, Matthias
A new approach to find the fastest trajectory of a robot avoiding obstacles, is presented. This optimal trajectory is the solution of an optimal control problem with kinematic and dynamics constraints. The approach involves a direct method based on the time discretization of the control variable. We mainly focus on the computation of a good initial trajectory. Our method combines discrete and continuous optimization concepts. First, a graph search algorithm is used to determine a list of via points. Then, an optimal control problem of small size is defined to find the fastest trajectory that passes through the vicinity of the via points. The resulting solution is the initial trajectory. Our approach is applied to a single body mobile robot. The numerical results show the quality of the initial trajectory and its low computational cost. ; publishedVersion
Document information
A coupling of discrete and continuous optimization to solve kinodynamic motion planning problems
2013-01-01
Preprint / Weierstraß-Institut für Angewandte Analysis und Stochastik , Volume 1900, ISSN 0946-8633
Paper
Electronic Resource
English
| DDC: | 629 |
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