DocumentCode
1969968
Title
Time optimal trajectory planning in dynamic environments
Author
Fiorini, Paolo ; Shiller, Zvi
Author_Institution
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Volume
2
fYear
1996
fDate
22-28 Apr 1996
Firstpage
1553
Abstract
This paper presents a method for motion planning in dynamic environments, subject to robot dynamics and actuator constraints. The time optimal trajectory is computed by first generating an initial guess using the concept of velocity obstacle. The initial guess, computed by a global search over a tree of avoidance maneuvers, is then optimized using a dynamic optimization. This method is applicable to repetitive tasks in known dynamic environments, as is demonstrated for a planar robot manipulator
Keywords
path planning; robot dynamics; time optimal control; actuator constraints; avoidance maneuver tree; dynamic environments; dynamic optimization; global search; motion planning; planar robot manipulator; repetitive tasks; robot dynamics; time-optimal trajectory planning; Acceleration; Aerodynamics; Manipulator dynamics; Motion planning; Orbital robotics; Propulsion; Robots; Technology planning; Time factors; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.506925
Filename
506925
Link To Document