Optimal manipulator path planning with obstacles using disjunctive programming

被引：16

作者：

Blackmore, Lars

Williams, Brian

机构：

来源：

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷

关键词：

D O I：

10.1109/ACC.2006.1657210

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

In this paper we present a novel, complete algorithm for manipulator path planning with obstacles. Previous approaches have used incomplete methods to make the problem tractable. By posing the problem as a Disjunctive Program we are able to use existing constrained optimization methods to generate optimal trajectories. Furthermore, our method plans entirely in the workspace of the manipulator, eliminating the costly process of mapping the obstacles from the workspace into the configuration space.

引用

页码：3200 / 3202

页数：3