Time-optimal path tracking for robots under dynamics constraints based on convex optimization.
Qiang ZhangShurong LiJian-Xin GuoXiao-Shan GaoPublished in: Robotica (2016)
Keyphrases
- convex optimization
- optimal path
- physical constraints
- path planning
- convex constraints
- interior point methods
- primal dual
- multi robot
- mobile robot
- low rank
- convex relaxation
- total variation
- multiple robots
- constrained optimization
- shortest path
- convex optimization problems
- semidefinite program
- norm minimization
- convex formulation
- autonomous robots
- collision free
- markov random field
- evolutionary algorithm