Time optimal trajectory planning in dynamic environments
نویسندگان
چکیده
This paper presents a method for motion planning in dynamic environments, subject to robot dynamics and ac-tuator constraints. The time optimal trajectory is computed by rst generating an initial guess using the concept of velocity obstacle. The initial guess, computed by a global search over a tree of avoidance maneuvers, is then optimized using a dynamic optimization. This method is applicable to repetitive tasks in known dynamic environments , as is demonstrated for a planar robot manipulator.
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