期刊
ADVANCES IN ENGINEERING SOFTWARE
卷 87, 期 -, 页码 30-42出版社
ELSEVIER SCI LTD
DOI: 10.1016/j.advengsoft.2015.04.011
关键词
Car-like robot; Trajectory planning; Time-optimal control; Simultaneous dynamic optimization; Interior-point method; Computational guidance and control
类别
资金
- 973 Program of China [2009CB320603]
- National Nature Science Foundation [61374167]
- 6th National College Students' Innovation and Entrepreneurial Training Program [201210006050]
Trajectory planning in robotics refers to the process of finding a motion law that enables a robot to reach its terminal configuration, with some predefined requirements considered at the same time. This study focuses on planning the time-optimal trajectories for car-like robots. We formulate a dynamic optimization problem, where the kinematic principles are accurately described through differential equations and the constraints are strictly expressed using algebraic inequalities. The formulated dynamic optimization problem is then solved by an interior-point-method-based simultaneous approach.. Compared with the prevailing methods in the field of trajectory planning, our proposed method can handle various user-specified requirements and different optimization-objectives in a unified manner. Simulation results indicate that our proposal efficiently deals with different kinds of physical constraints, terminal conditions and collision-avoidance requirements that are imposed on the trajectory planning mission. Moreover, we utilize a Hamiltonian-based optimality index to evaluate how close an obtained solution is to being optimal. (C) 2015 Elsevier Ltd. All rights reserved.
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