Mixed-integer programming for optimal path planning of robotic manipulators

2011 ◽  
Author(s):  
Hao Ding ◽  
Gunther Reissig ◽  
Dominic Gross ◽  
Olaf Stursberg
Keyword(s):  
Integer Programming ◽  
Path Planning ◽  
Mixed Integer Programming ◽  
Optimal Path ◽  
Robotic Manipulators ◽  
Mixed Integer ◽  
Optimal Path Planning

Optimal Path Generation for Automotive Collision Avoidance Using Mixed Integer Programming

2008 ◽  
Vol 1 (3) ◽  
pp. 222-226 ◽  
Author(s):  
Masakazu MUKAI ◽  
Junichi MURATA ◽  
Taketoshi KAWABE ◽  
Hikaru NISHIRA ◽  
Yoshitaka TAKAGI ◽  
...  
Keyword(s):  
Integer Programming ◽  
Mixed Integer Programming ◽  
Collision Avoidance ◽  
Optimal Path ◽  
Mixed Integer ◽  
Path Generation

scholarly journals An optimal path planning problem for heterogeneous multi-vehicle systems

2016 ◽  
Vol 26 (2) ◽  
pp. 297-308 ◽  
Author(s):  
Martin Klaučo ◽  
Slavomír Blažek ◽  
Michal Kvasnica
Keyword(s):  
Path Planning ◽  
A Priori ◽  
Optimal Path ◽  
Mixed Integer ◽  
Planning Problem ◽  
Optimal Path Planning ◽  
Second Order Cone ◽  
Vehicle Systems ◽  
Close Distance ◽  
Path Planning Problem

Abstract A path planning problem for a heterogeneous vehicle is considered. Such a vehicle consists of two parts which have the ability to move individually, but one of them has a shorter range and is therefore required to keep in a close distance to the main vehicle. The objective is to devise an optimal path of minimal length under the condition that at least one part of the heterogeneous system visits all desired waypoints exactly once. Two versions of the problem are considered. One assumes that the order in which the waypoints are visited is known a priori. In such a case we show that the optimal path can be found by solving a mixed-integer second-order cone problem. The second version assumes that the order in which the waypoints are visited is not known a priori, but can be optimized so as to shorten the length of the path. Two approaches to solve this problem are presented and evaluated with respect to computational complexity.

Non-blocking Supervisory Design Using Mixed Integer Programming

2009 ◽  
Vol 35 (2) ◽  
pp. 180-185
Author(s):  
Mi ZHAO ◽  
Zhi-Wu LI ◽  
Na WEI
Keyword(s):  
Integer Programming ◽  
Mixed Integer Programming ◽  
Mixed Integer
Sign in / Sign up

Export Citation Format

Share Document