Time-Optimal Path Tracking for Robots: A Convex Optimization Approach

被引：357
|
作者：
Verscheure, Diederik [1 ,2 ]
Demeulenaere, Bram [1 ,2 ]
Swevers, Jan [1 ,2 ]
De Schutter, Joris [1 ,2 ]
Diehl, Moritz [2 ,3 ]
机构：
[1] Katholieke Univ Leuven, Dept Mech Engn, Div PMA, Louvain, Belgium
[2] Katholieke Univ Leuven, Optimizat Engn Ctr OPTEC, Louvain, Belgium
[3] Katholieke Univ Leuven, Dept Elect Engn ESAT, Div SCD, Louvain, Belgium
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2009年 / 54卷 / 10期
关键词：
Second-order cone program (SOCP); based solution method; MANIPULATORS;
D O I：
10.1109/TAC.2009.2028959
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem is transformed here into a convex optimal control problem with a single state. Various convexity-preserving extensions are introduced, resulting in a versatile approach for optimal path tracking. A direct transcription method is presented that reduces finding the globally optimal trajectory to solving a second-order cone program using robust numerical algorithms that are freely available. Validation against known examples and application to a more complex example illustrate the versatility and practicality of the new method.
引用
收藏
页码：2318 / 2327
页数：10
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