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Authors: Matthias Oberherber ; Hubert Gattringer ; Andreas Müller and Michael Schachinger

Affiliation: Johannes Kepler University Linz, Austria

Keyword(s): Robotics, Optimal Path Planning, Optimal Tube Following, Dynamic Modeling, Polygonal Paths.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Formal Methods ; Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms ; Performance Evaluation and Optimization ; Planning and Scheduling ; Robot Design, Development and Control ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems

Abstract: The classical optimal path following problem considers the problem of moving optimally along a predefined geometric path under technological restrictions. In contrast to optimal path following, optimal tube following allows deviations from the initial path within a predefined tube to reduce cost even more. The present paper proposes a modern approach that treats this non-convex problem in task space. This novel method also provides a simple way to derive optimal trajectories within a tube described in terms of polygonal lines. Numerical examples are presented that allow to compare the proposed method to existing joint space approaches.

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Paper citation in several formats:
Oberherber, M.; Gattringer, H.; Müller, A. and Schachinger, M. (2016). A Task Space Approach for Planar Optimal Robot Tube Following. In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-198-4; ISSN 2184-2809, SciTePress, pages 327-334. DOI: 10.5220/0005980303270334

@conference{icinco16,
author={Matthias Oberherber. and Hubert Gattringer. and Andreas Müller. and Michael Schachinger.},
title={A Task Space Approach for Planar Optimal Robot Tube Following},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2016},
pages={327-334},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005980303270334},
isbn={978-989-758-198-4},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Task Space Approach for Planar Optimal Robot Tube Following
SN - 978-989-758-198-4
IS - 2184-2809
AU - Oberherber, M.
AU - Gattringer, H.
AU - Müller, A.
AU - Schachinger, M.
PY - 2016
SP - 327
EP - 334
DO - 10.5220/0005980303270334
PB - SciTePress

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