OPTIMIZATION APPROACHES FOR ROBOT TRAJECTORY PLANNING

被引：19
作者：
Llopis-Albert, Carlos [1 ]
Rubio, Francisco [2 ]
Valero, Francisco [2 ]
机构：
[1] Univ Politecn Valencia, Dept Ingn Mecan & Mat, Cami de Vera S-N, E-46022 Valencia, Spain
[2] Univ Politecn Valencia, Ctr Invest Ingn Mecan, Cami de Vera S-N, E-46022 Valencia, Spain
来源：
MULTIDISCIPLINARY JOURNAL FOR EDUCATION SOCIAL AND TECHNOLOGICAL SCIENCES | 2018年 / 5卷 / 01期
关键词：
Algorithms; Optimal Trajectory; Kinematic and Dynamic constraints; Minimum time; Energy; Obstacle avoidance;
D O I：
10.4995/muse.2018.9867
中图分类号：
G40 [教育学];
学科分类号：
040101 ; 120403 ;
摘要：
The development of optimal trajectory planning algorithms for autonomous robots is a key issue in order to efficiently perform the robot tasks. This problem is hampered by the complex environment regarding the kinematics and dynamics of robots with several arms and/or degrees of freedom (dof), the design of collision-free trajectories and the physical limitations of the robots. This paper presents a review about the existing robot motion planning techniques and discusses their pros and cons regarding completeness, optimality, efficiency, accuracy, smoothness, stability, safety and scalability.
引用
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页码：1 / 16
页数：16
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