Time-optimal motion planning in the presence of moving obstacles
Tim Mercy, Wannes Van Loock, Goele Pipeleers, Jan Swevers · Lirias · 2015
This abstract presents a method for calculating a time- optimal motion trajectory in the presence of moving obsta- cles. The method has two key aspects: (i) via a B-spline parametrization of the motion trajectory it is possible to make a trade-off between the complexity of the optimization problem and the optimality of the resulting trajectory; (ii) the properties of B-splines allow to transform all constraints to conservative constraints on the B-spline coefficients. This relaxation lowers the amount of constraints. These aspects lead to a small scale optimization problem that is suitable for real-time implementation [2].