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Please use this identifier to cite or link to this item: https://doi.org/10.21256/zhaw-29866
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dc.contributor.authorLandry, Chantal-
dc.contributor.authorWelz, Wolfgang-
dc.contributor.authorGerdts, Matthias-
dc.date.accessioned2024-02-08T14:50:29Z-
dc.date.available2024-02-08T14:50:29Z-
dc.date.issued2016-
dc.identifier.issn1389-4420de_CH
dc.identifier.issn1573-2924de_CH
dc.identifier.urihttps://digitalcollection.zhaw.ch/handle/11475/29866-
dc.descriptionErworben im Rahmen der Schweizer Nationallizenzen (http://www.nationallizenzen.ch)de_CH
dc.description.abstractA new approach to find the fastest trajectory of a robot avoiding obstacles, is presented. This optimal trajectory is the solution of an optimal control problem with kinematic and dynamic constraints. The approach involves a direct method based on the time discretization of the control variable. We mainly focus on the computation of a good initial trajectory. Our method combines discrete and continuous optimization concepts. First, a graph search algorithm is used to determine a list of intermediate points. Then, an optimal control problem of small size is defined to find the fastest trajectory that passes through the vicinity of the intermediate points. The resulting solution is the initial trajectory. Our approach is applied to a single body mobile robot. The numerical results show the quality of the initial trajectory and its low computational cost.de_CH
dc.language.isoende_CH
dc.publisherSpringerde_CH
dc.relation.ispartofOptimization and Engineeringde_CH
dc.rightsLicence according to publishing contractde_CH
dc.subjectTrajectory planningde_CH
dc.subjectOptimal control problemde_CH
dc.subjectCollision avoidancede_CH
dc.subjectGraph search algorithmde_CH
dc.subjectInitializationde_CH
dc.subjectRoboticsde_CH
dc.subject.ddc621.3: Elektro-, Kommunikations-, Steuerungs- und Regelungstechnikde_CH
dc.titleCombining discrete and continuous optimization to solve kinodynamic motion planning problemsde_CH
dc.typeBeitrag in wissenschaftlicher Zeitschriftde_CH
dcterms.typeTextde_CH
zhaw.departementSchool of Engineeringde_CH
zhaw.organisationalunitInstitut für Angewandte Mathematik und Physik (IAMP)de_CH
dc.identifier.doi10.1007/s11081-015-9291-0de_CH
dc.identifier.doi10.21256/zhaw-29866-
zhaw.funding.euNode_CH
zhaw.issue3de_CH
zhaw.originated.zhawYesde_CH
zhaw.pages.end556de_CH
zhaw.pages.start533de_CH
zhaw.publication.statuspublishedVersionde_CH
zhaw.volume17de_CH
zhaw.publication.reviewPeer review (Publikation)de_CH
zhaw.author.additionalNode_CH
zhaw.display.portraitYesde_CH
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Landry, C., Welz, W., & Gerdts, M. (2016). Combining discrete and continuous optimization to solve kinodynamic motion planning problems. Optimization and Engineering, 17(3), 533–556. https://doi.org/10.1007/s11081-015-9291-0
Landry, C., Welz, W. and Gerdts, M. (2016) ‘Combining discrete and continuous optimization to solve kinodynamic motion planning problems’, Optimization and Engineering, 17(3), pp. 533–556. Available at: https://doi.org/10.1007/s11081-015-9291-0.
C. Landry, W. Welz, and M. Gerdts, “Combining discrete and continuous optimization to solve kinodynamic motion planning problems,” Optimization and Engineering, vol. 17, no. 3, pp. 533–556, 2016, doi: 10.1007/s11081-015-9291-0.
LANDRY, Chantal, Wolfgang WELZ und Matthias GERDTS, 2016. Combining discrete and continuous optimization to solve kinodynamic motion planning problems. Optimization and Engineering. 2016. Bd. 17, Nr. 3, S. 533–556. DOI 10.1007/s11081-015-9291-0
Landry, Chantal, Wolfgang Welz, and Matthias Gerdts. 2016. “Combining Discrete and Continuous Optimization to Solve Kinodynamic Motion Planning Problems.” Optimization and Engineering 17 (3): 533–56. https://doi.org/10.1007/s11081-015-9291-0.
Landry, Chantal, et al. “Combining Discrete and Continuous Optimization to Solve Kinodynamic Motion Planning Problems.” Optimization and Engineering, vol. 17, no. 3, 2016, pp. 533–56, https://doi.org/10.1007/s11081-015-9291-0.


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