Time-Optimal Path Tracking for Robots: A Convex Optimization Approach

This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem is transformed here into a convex optimal control problem with a single state. Various convexity-preserving...

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Veröffentlicht in:IEEE transactions on automatic control Jg. 54; H. 10; S. 2318 - 2327
Hauptverfasser: Verscheure, D., Demeulenaere, B., Swevers, J., De Schutter, J., Diehl, M.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York, NY IEEE 01.10.2009
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Actuators
Applied sciences
Automatic control
Computer science; control theory; systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Manipulator dynamics
Mathematical analysis
Mathematical models
Motion planning
Nonlinearity
Numerical analysis
Optimal control
Optimization
Orbital robotics
Path planning
Path tracking
Robot kinematics
Robotics
Robots
Robustness
Second-order cone program (SOCP)-based solution method
State-space methods
Tracking
Minimum time
Optimal control
Optimal trajectory
Optimal path
Convexity
Optimal planning
Second-order cone program (SOCP)-based solution method
Motion control
Convex programming
Variable transformation
Robotics
ISSN:0018-9286, 1558-2523
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Beschreibung
Zusammenfassung:This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem is transformed here into a convex optimal control problem with a single state. Various convexity-preserving extension are introduced, resulting in a versatile approach for optimal path tracking. A direct transcription method is presented that reduces finding the globally optimal trajectory to solving a second-order cone program using robust numerical algorithms that are freely available. Validation against known examples and application to a more complex example illustrate the versatility and practicality of the new method.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2009.2028959