Robot trajectory planning with semi-infinite programming
نویسندگان
چکیده
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 [1] environment which is publicly available. A B-Spline library was also created to allow the codification of the robotics trajectory problem. Keywords— robot trajectory planning, semi-infinite programming, discretization method, SIPAMPL database.
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ورودعنوان ژورنال:
- European Journal of Operational Research
دوره 153 شماره
صفحات -
تاریخ انتشار 2004