Trajectory planning for mechanical systems in the presence of dynamic obstaclesстатьяИсследовательская статья
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Дата последнего поиска статьи во внешних источниках: 26 января 2024 г.
Аннотация:This paper deals with an optimal motion planning method for mechanical systems subjected to velocity and acceleration constraints in the presence of dynamical geometric obstacles. Using a state parametrization method based on time polynomials the trajectory planning problem is reformulated as a constrained nonlinear optimization problem which issolved using a numerical optimization toolbox. Quadrotor motion planning in the horizontalplane is considered as an illustration example.