49Mxx Numerical methods [See also 90Cxx, 65Kxx]
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Year of publication
- 2011 (1)
Language
- English (1)
Keywords
- Optimal control (1)
- active set strategy (1)
- backface culling (1)
- collision avoidance (1)
- cooperative robots (1)
Project
- C30 (1)
Application Area
- C (1)
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.