By Topic

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Hao Ding ; Institute of Automatic Control Engineering, Technische Universität, München, 80290 Munich, Germany ; Mingxiang Zhou ; Olaf Stursberg

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 times 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.

Published in:

Control and Automation, 2009. MED '09. 17th Mediterranean Conference on

Date of Conference:

24-26 June 2009