Collision free minimum time trajectory planning for manipulators using global search and gradient method

Motoji Yamamoto, Yukihiro Isshiki, Akira Mohri

Research output: Contribution to conferencePaperpeer-review

8 Citations (Scopus)

Abstract

A method for time optimal collision free trajectory planning problem is proposed. In this paper, the dynamics of manipulator and obstacles are considered. This type of optimal trajectory planning problem is very difficult and complicated one because of non-linearity of manipulator dynamics and existence of obstacles. Generally, it results in a multimodal optimization problem. The proposed method is basically an iteratively improving one based on a gradient method. Firstly, two global methods (a genetic algorithm or an exact cell decomposition method) are used to search multiple initial feasible spatial paths for the gradient method. Next, the gradient method searches time optimal solution locally with the multiple initial feasible solutions. Simulation results show that this approach is effective to the time optimal collision free trajectory planning problem.

Original languageEnglish
Pages2184-2191
Number of pages8
Publication statusPublished - Dec 1 1994
EventProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
Duration: Sep 12 1994Sep 16 1994

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period9/12/949/16/94

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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