Trajectory planning for mechanical systems in the presence of dynamic obstacles
Alexey E. Golubev · Journal of Physics Conference Series · 2023
Abstract This paper deals with an optimal motion planning method for mechanical systems subjected to velocity and acceleration constraints in the presence of dynamical geometric obstacles. Using a state parametrization method based on time polynomials the trajectory planning problem is reformulated as a constrained nonlinear optimization problem which is solved using a numerical optimization toolbox. Quadrotor motion planning in the horizontal plane is considered as an illustration example.