An optimal control problem to find the fastest collision-free trajectory of a robot is presented. The dynamics of the robot is governed by ordinary differential equations. The collision avoidance criterion is a consequence of Farkas's lemma and is included in the model as state constraints. Finally an active set strategy based on backface culling is added to the sequential quadratic programming which solves the optimal control problem. © 2013 IFIP International Federation for Information Processing.
CITATION STYLE
Landry, C., Gerdts, M., Henrion, R., & Hömberg, D. (2013). Path-planning with collision avoidance in automotive industry. In IFIP Advances in Information and Communication Technology (Vol. 391 AICT, pp. 102–111). Springer New York LLC. https://doi.org/10.1007/978-3-642-36062-6_11
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