Hamiltonian path planning in constrained workspace

被引：2

作者：

Casagrande, Daniele ^{[1
]}

Fenu, Gianfranco ^{[2
]}

Pellegrino, Felice Andrea ^{[2
]}

机构：

[1] Univ Udine, Dipartimento Politecn Ingn & Architettura, Via Sci 206, I-33100 Udine, Italy

[2] Dipartimento Ingn & Architettura, Via A Valerio 10, I-34127 Trieste, Italy

来源：

EUROPEAN JOURNAL OF CONTROL | 2017年 / 33卷

关键词：

Obstacle avoidance; Hamiltonian systems; Kinematic constraints; TIME OBSTACLE AVOIDANCE; NAVIGATION; MANIPULATORS; FRAMEWORK;

D O I：

10.1016/j.ejcon.2016.09.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A methodology to plan the trajectories of robots that move in an n-dimensional Euclidean space, have to reach a target avoiding obstacles and are constrained to move in a region of the space is described. It is shown that if the positions of the obstacles are known then a Hamiltonian function can be constructed and used to define a collision-free trajectory, It is also shown that the method can be extended to the case in which the target or the obstacles (or both) move. Results of simulations for a pair of planar robots and a three degrees-of-freedom manipulator are finally reported. (C) 2016 European Control Association. Published by Elsevier Ltd. All rights reserved.

引用

页码：1 / 10

页数：10

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