A Smooth Reformulation of Collision Avoidance Constraints in Trajectory Planning
2022 IEEE 17th International Conference on Advanced Motion Control (AMC)(2022)
摘要
This work describes a novel, computational-cost-reducing collision avoidance constraint for trajectory planning of robotic systems through adopting a smooth approximation of the maximum function. The proposed method reduces the number of constraints in a trajectory planning problem by expressing a number of constraints as one single constraint that is approximately equivalent to the most critical ...
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关键词
trajectory planning,optimal control,optimisation,collision avoidance,robotics
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