Tools for Robotic Trajectory Planning Using Cubic Splines and Semi-Infinite Programming

A. Ismael F. Vaz () and Edite M. G. P. Fernandes ()
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A. Ismael F. Vaz: Universidade do Minho Campus de Gualtar
Edite M. G. P. Fernandes: Universidade do Minho Campus de Gualtar

A chapter in Recent Advances in Optimization, 2006, pp 399-413 from Springer

Abstract: Summary In this paper we describe how robot trajectory planning, using cubic splines to generate the trajectory, can be formulated as standard semi-infinite programming (SIP) problems and efficiently solved by a discretization method. These formulated problems were coded in the publicly available SIPAMPL environment and to allow the codification of these problems a cubic splines dynamic library for AMPL was developed. The discretization method used to solve the formulated problems is implemented in the NSIPS solver and numerical results with four particular problems are shown.

Keywords: Discretization Method; Total Travel Time; Final Velocity; Robot Trajectory; Tridiagonal System (search for similar items in EconPapers)
Date: 2006
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Persistent link: https://EconPapers.repec.org/RePEc:spr:lnechp:978-3-540-28258-7_23

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DOI: 10.1007/3-540-28258-0_23

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