Hamiltonian path planning in constrained workspace

详细信息    查看全文

• 作者：Daniele Casagrande^a ; ^{daniele.casagrande@uniud.it} ; Gianfranco Fenu^b ; ^{fenu@units.it} ; Felice Andrea Pellegrino^b ; ^{fapellegrino@units.it}
• 关键词：Obstacle avoidance ; Hamiltonian systems ; Kinematic constraints
• 刊名：European Journal of Control
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：33
• 期：Complete
• 页码：1-10
• 全文大小：1296 K
• 卷排序：33

文摘

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.