An Efficient Linear Programming-Based Time-Optimal Feedrate Planning Considering Kinematic and Dynamics Constraints of Robots.
Guanghui LiuQiang LiBohan YangHualiang ZhangLijin FangPublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- physical constraints
- linear programming
- dynamic programming
- optimal solution
- linear programming problems
- dual variables
- heuristic search
- linear program
- joint space
- planning problems
- linear inequalities
- mobile robot
- cooperative
- objective function
- mixed integer
- multiple robots
- optimal planning
- motion control
- linear arithmetic constraints
- collision free
- multi robot
- degrees of freedom
- state space
- optimal plans
- domain independent