NDLI: Optimal motion planning for robotic manipulators with dynamic obstacles using mixed-integer linear programming

Content Provider	IEEE Xplore Digital Library
Author	Hao Ding Mingxiang Zhou Stursberg, O.
Copyright Year	2009
Description	Author affiliation: Institute of Automatic Control Engineering, Technische Universität, München, 80290 Munich, Germany (Hao Ding; Mingxiang Zhou) \|\| Institute of Control and System Theory, Department of Electrical Engineering and Computer Science, University of Kassel, 34109, Germany (Stursberg, O.)
Abstract	The task of motion planning for robotic manipulators means to drive an end-effector between designated points in the work area while obstacles are not hit. This contribution investigates the case of dynamic obstacles (like human operators) and the consideration of a performance criterion to be maximized for the motion. The proposed approach maps the dynamics of the manipulator and the obstacles into the C × T-space (spanned by the configuration C and the time T). Within this space, an (sub-)optimal sequence of configurations in the collision-free subspace is determined by mixed-integer linear programming. To achieve sufficient computational efficiency, the optimization task is approached by employing the principles of model predictive control. The paper describes the approach based on the example of a two-link robot interacting with a human operator.
Starting Page	934
Ending Page	939
File Size	240230
Page Count	6
File Format	PDF
ISBN	9781424446841
DOI	10.1109/MED.2009.5164665
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-24
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Automatic control Linear programming Path planning Dynamic programming Trajectory Robotics and automation Manipulator dynamics Robots Orbital robotics
Content Type	Text
Resource Type	Article

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