TY - GEN A1 - Gerdts, Matthias A1 - Henrion, René A1 - Hömberg, Dietmar A1 - Landry, Chantal T1 - Path planning and collision avoidance for robots N2 - An optimal control problem to find the fastest collision-free trajectory of a robot surrounded by obstacles is presented. The collision avoidance is based on linear programming arguments and expressed as state constraints. The optimal control problem is solved with a sequential programming method. In order to decrease the number of unknowns and constraints a backface culling active set strategy is added to the resolution technique. KW - Optimal control KW - collision avoidance KW - cooperative robots KW - backface culling KW - active set strategy Y1 - 2011 UR - https://opus4.kobv.de/opus4-matheon/frontdoor/index/index/docId/910 UR - https://nbn-resolving.org/urn:nbn:de:0296-matheon-9103 ER -