Increasing Efficiency of Optimization-based Path Planning for Robotic Manipulators.

Hao Ding, Gunther Reißig, and Olaf Stursberg.
Increasing Efficiency of Optimization-based Path Planning for Robotic Manipulators.
Proc. 50th IEEE Conf. Decision and Control (CDC) and European Control Conference (ECC), Orlando, FL, U.S.A., 12-15 Dec. 2011, pp. 1399-1404.

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Abstract:
Path planning for robotic manipulators interacting with obstacles is considered, where the end-effector is to be driven to a goal region in minimum time, collisions are to be avoided, and kinematic and dynamic constraints are to be obeyed. This non-convex optimization problem can be approximated by mixed integer programs (MIPs), which usually leads to a large number of binary variables, and hence, to inacceptable computational time for the planning. In this paper, we present a geometric result whose application drastically reduces the number of binary decision variables in the aforementioned MIPs for 3D motion planning problems. This leads to a reduction in computational time, which is demonstrated for different scenarios.

BibTeX entry:

@InProceedings{yourchoice,
 author = {Hao Ding and Gunther Rei{\ss}ig and Olaf Stursberg},
 title = {Increasing Efficiency of Optimization-based Path Planning for Robotic Manipulators},
 booktitle = {Proc. 50th IEEE Conf. Decision and Control (CDC) and European Control Conference (ECC), Orlando, FL, U.S.A., 12-15 2011},
 PAGES = {1399-1404},
 YEAR = 2011,
 ADDRESS = {New York},
 PUBLISHER = {IEEE},
 doi = {10.1109/CDC.2011.6161276}
}

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