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Robot trajectory planning with semi-infinite programming
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DOI：10.1016/S0377-2217(03)00266-2.png)
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摘要
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In this paper we describe how robot trajectory planning can be formulated as a semi-infinite programming (SIP) problem. The formulation as a SIP problem allowed us to treat the problem with one of the three main classes of methods for solving SIP, the discretization class. Two of the robotics trajectory planning problems formulated were coded in the SIPAMPL environment which is publicly available. A B-Spline library was also created to allow the codification of the robotics trajectory problem. (C) 2003 Elsevier B.V. All rights reserved.
Keyword:
nonlinear programming
robot trajectory planning
semi-infinite programming
discretization method
SIPAMPL database
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IF:
6
论文数:
2.2W
被引数:
6.4W
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