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https://doi.org/10.21256/zhaw-29866| Publication type: | Article in scientific journal |
| Type of review: | Peer review (publication) |
| Title: | Combining discrete and continuous optimization to solve kinodynamic motion planning problems |
| Authors: | Landry, Chantal Welz, Wolfgang Gerdts, Matthias |
| et. al: | No |
| DOI: | 10.1007/s11081-015-9291-0 10.21256/zhaw-29866 |
| Published in: | Optimization and Engineering |
| Volume(Issue): | 17 |
| Issue: | 3 |
| Page(s): | 533 |
| Pages to: | 556 |
| Issue Date: | 2016 |
| Publisher / Ed. Institution: | Springer |
| ISSN: | 1389-4420 1573-2924 |
| Language: | English |
| Subjects: | Trajectory planning; Optimal control problem; Collision avoidance; Graph search algorithm; Initialization; Robotics |
| Subject (DDC): | 621.3: Electrical, communications, control engineering |
| Abstract: | 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 dynamic 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 intermediate points. Then, an optimal control problem of small size is defined to find the fastest trajectory that passes through the vicinity of the intermediate 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. |
| Further description: | Erworben im Rahmen der Schweizer Nationallizenzen (http://www.nationallizenzen.ch) |
| URI: | https://digitalcollection.zhaw.ch/handle/11475/29866 |
| Fulltext version: | Published version |
| License (according to publishing contract): | Licence according to publishing contract |
| Departement: | School of Engineering |
| Organisational Unit: | Institute of Applied Mathematics and Physics (IAMP) |
| Appears in collections: | Publikationen School of Engineering |
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| File | Description | Size | Format | |
|---|---|---|---|---|
| 2016_Landry-etal_Optimization-kinodynamic-motion-planning-problems.pdf | 721.59 kB | Adobe PDF |  View/Open |
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Landry, C., Welz, W., & Gerdts, M. (2016). Combining discrete and continuous optimization to solve kinodynamic motion planning problems. Optimization and Engineering, 17(3), 533–556. https://doi.org/10.1007/s11081-015-9291-0
Landry, C., Welz, W. and Gerdts, M. (2016) ‘Combining discrete and continuous optimization to solve kinodynamic motion planning problems’, Optimization and Engineering, 17(3), pp. 533–556. Available at: https://doi.org/10.1007/s11081-015-9291-0.
C. Landry, W. Welz, and M. Gerdts, “Combining discrete and continuous optimization to solve kinodynamic motion planning problems,” Optimization and Engineering, vol. 17, no. 3, pp. 533–556, 2016, doi: 10.1007/s11081-015-9291-0.
LANDRY, Chantal, Wolfgang WELZ und Matthias GERDTS, 2016. Combining discrete and continuous optimization to solve kinodynamic motion planning problems. Optimization and Engineering. 2016. Bd. 17, Nr. 3, S. 533–556. DOI 10.1007/s11081-015-9291-0
Landry, Chantal, Wolfgang Welz, and Matthias Gerdts. 2016. “Combining Discrete and Continuous Optimization to Solve Kinodynamic Motion Planning Problems.” Optimization and Engineering 17 (3): 533–56. https://doi.org/10.1007/s11081-015-9291-0.
Landry, Chantal, et al. “Combining Discrete and Continuous Optimization to Solve Kinodynamic Motion Planning Problems.” Optimization and Engineering, vol. 17, no. 3, 2016, pp. 533–56, https://doi.org/10.1007/s11081-015-9291-0.
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