Path-constrained optimal trajectory planning for robot manipulators with obstacle avoidance
Yalun Wen,Prabhakar R. Pagilla,Yalun Wen,Prabhakar R. Pagilla
In this paper, we develop a novel path-constrained and collision-free optimal trajectory planning algorithm for robot manipulators in the presence of obstacles for the following problem: Given a desired sequence of discrete waypoints of robot configurations, a set of robot kinematic and dynamic constraints, and a set of obstacles, determine a time and jerk optimal and collision-free trajectory for...
