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

页码：1 / 16

页数：16

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