Path-Planning with Collision Avoidance in Automotive Industry - System Modeling and Optimization Access content directly
Conference Papers Year : 2013

Path-Planning with Collision Avoidance in Automotive Industry

Chantal Landry
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  • PersonId : 986394
René Henrion
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Dietmar Hömberg
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  • PersonId : 986396


An optimal control problem to find the fastest collision-free trajectory of a robot is presented. The dynamics of the robot is governed by ordinary differential equations. The collision avoidance criterion is a consequence of Farkas’s lemma and is included in the model as state constraints. Finally an active set strategy based on backface culling is added to the sequential quadratic programming which solves the optimal control problem.
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hal-01347528 , version 1 (21-07-2016)





Chantal Landry, Matthias Gerdts, René Henrion, Dietmar Hömberg. Path-Planning with Collision Avoidance in Automotive Industry. 25th System Modeling and Optimization (CSMO), Sep 2011, Berlin, Germany. pp.102-111, ⟨10.1007/978-3-642-36062-6_11⟩. ⟨hal-01347528⟩
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