Trajectory planning with a dynamic obstacle clustering strategy using Mixed-Integer Linear Programming.
Vinícius Antonio BattagelloNei Yoshihiro SomaRubens Junqueira Magalhães AfonsoPublished in: ACC (2021)
Keyphrases
- trajectory planning
- mixed integer linear programming
- dynamic environments
- motion planning
- mobile robot
- cutting plane
- path planning
- obstacle avoidance
- branch and bound algorithm
- mathematical programming
- robot manipulators
- mixed integer nonlinear programming
- learning algorithm
- optimal path
- mixed integer
- column generation
- optimization problems