Title :
A comparative study of optimal control algorithms for robot continuous path planning
Author :
Pledel, Patrick ; Bestaoui, Yasmina
Author_Institution :
Lab. d´´Automatique de Nantes, Nantes Univ., France
Abstract :
The optimal motion generation problem is solved subject to actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy function. Existing methods consider only the time-optimal problem. We present some simulation results using a mathematical programming technique (sequential quadratic programming) existing in the NPSOL software. Then, a comparative study is made between existing methods and the proposed technique
Keywords :
constraint handling; motion control; path planning; quadratic programming; robots; time optimal control; NPSOL software; actuator constraints; manipulator model; objective function; optimal control; robot continuous path planning; sequential quadratic programming; weighted time energy function; Actuators; DC motors; Manipulator dynamics; Mathematical programming; Neodymium; Optimal control; Path planning; Quadratic programming; Robot motion; Torque;
Conference_Titel :
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-2129-4
DOI :
10.1109/ICSMC.1994.400249
