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Paper details
Number 2 - June 1997
Volume 7 - 1997
Time-optimal trajectory planning in dynamic environments
Paolo Fiorini, Zvi Shiller
Abstract
This paper presents a direct method for computing the time-optimal trajectory for a robot among stationary and moving obstacles, subject to the robot's dynamics and actuator constraints. The motion planning problem is first formulated as an optimization problem, and then solved numerically using a gradient descent. The initial guess for the optimization is generated using a method
based on the concept of Velocity Obstacles. The method is demonstrated for a 2-DOF planar manipulator moving in static and dynamic environments.
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