Time-Optimal Obstacle Avoidance - Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

This paper presents a method for generating neartime optimal trajectories in cluttered environments for manipulators wath invariant inertia matrices. For one obsdacle, the .methop generates the time-optimal trajectory b y manamatang the fame-deravatave of the return (cost) function for this problem, satisfying the HamiltonJacobi-Bellman (HJB) equation. For multiple obstacles, the trajectory i s generated using the pseudo return function whzch is an approximation o the return function for the multi-obstacle problem. Jhe pseudo return function avoids one obstacle at a time, producing near-o timal trajectories that are guaranteed to avoid the oistacles and satisfy the actuator constraints. An exam le wath circular obstacles demonstrates close correit ion between the nearoptimal and optimal aths, re uiring computational efforts that are suitabz for on-!ine implementations.