Practical application of pseudospectral optimization to robot path planning
Martin, Steven Colin, Hillier, Nick, & Corke, Peter (2010) Practical application of pseudospectral optimization to robot path planning. In Wyeth, Gordon & Upcroft, Ben (Eds.) Australasian Conference on Robotics and Automation 2010, Australian Robotics & Automation Association, Brisbane, Queensland.
To obtain minimum time or minimum energy trajectories for robots it is necessary to employ planning methods which adequately consider the platform’s dynamic properties. A variety of sampling, graph-based or local receding-horizon optimisation methods have previously been proposed. These typically use simpliﬁed kino-dynamic models to avoid the signiﬁcant computational burden of solving this problem in a high dimensional state-space. In this paper we investigate solutions from the class of pseudospectral optimisation methods which have grown in favour amongst the optimal control community in recent years. These methods have high computational efficiency and rapid convergence properties. We present a practical application of such an approach to the robot path planning problem to provide a trajectory considering the robot’s dynamic properties. We extend the existing literature by augmenting the path constraints with sensed obstacles rather than predeﬁned analytical functions to enable real world application.
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|Item Type:||Conference Paper|
|Keywords:||path planning, pseudospectral, optimization, ROS, robot|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Simulation and Modelling (080110)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2010 Australian Robotics & Automation Association|
|Deposited On:||31 Mar 2011 22:57|
|Last Modified:||01 Mar 2012 04:05|
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