A comparative study of optimal control algorithms for robot continuous path planning

The optimal motion generation problem is solved subject to actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy function. Existing methods consider only the time-optimal problem. We present some simulation results usin...

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Bibliographic Details
Published in1994 IEEE International Conference on Systems, Man and Cybernetics Vol. 3; pp. 2522 - 2527 vol.3
Main Authors Pledel, P., Bestaoui, Y.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1994
Subjects
Actuators
DC motors
Manipulator dynamics
Mathematical programming
Neodymium
Optimal control
Path planning
Quadratic programming
Robot motion
Torque
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ISBN9780780321298
0780321294
DOI10.1109/ICSMC.1994.400249

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Summary:The optimal motion generation problem is solved subject to actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy function. Existing methods consider only the time-optimal problem. We present some simulation results using a mathematical programming technique (sequential quadratic programming) existing in the NPSOL software. Then, a comparative study is made between existing methods and the proposed technique.< >
ISBN:9780780321298
0780321294
DOI:10.1109/ICSMC.1994.400249