NDLI: Guaranteed computation of constraints for safe path planning

Content Provider	IEEE Xplore Digital Library
Author	Lengagne, S. Ramdani, N. Fraisse, P.
Copyright Year	2007
Description	Author affiliation: DEMAR, LIRMM, Univ. Montpellier II/INRIA, Montpellier (Lengagne, S.; Ramdani, N.; Fraisse, P.)
Abstract	Path planning issues are often solved via constrained optimization methods but with constraints which must be satisfied over a whole interval of time or space. The use of fast numerical toolboxes implementing state-of-the-art constrained needs to discretize the continous constraints over a time grid. Thus, the obtained solution, in this way, will satisfy the constraints only for time values corresponding to the time grid. Obviously, some constraints could be violated with catastrophic consequences when dealing with, for instance, the balance of humanoid robots. In this paper we introduce a guaranteed discretization method which uses interval analysis to ensure that the constraints are satisfied over the whole time interval. We analyze numerically this method by performing a trajectory generation under constraints dedicated to the motion of the HOAP-3 humanoid robot.
Starting Page	312
Ending Page	317
File Size	297925
Page Count	6
File Format	PDF
ISBN	9781424418619
DOI	10.1109/ICHR.2007.4813886
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-11-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Constraint optimization Motion planning Robot motion Humanoid robots Optimization methods Path planning Performance analysis Time factors Motion analysis Orbital robotics
Content Type	Text
Resource Type	Article

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