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Tools for Robotic Trajectory Planning Using Cubic Splines and Semi-Infinite Programming

In: Recent Advances in Optimization

Author

Listed:
  • A. Ismael F. Vaz

    (Universidade do Minho Campus de Gualtar)

  • Edite M. G. P. Fernandes

    (Universidade do Minho Campus de Gualtar)

Abstract

Summary In this paper we describe how robot trajectory planning, using cubic splines to generate the trajectory, can be formulated as standard semi-infinite programming (SIP) problems and efficiently solved by a discretization method. These formulated problems were coded in the publicly available SIPAMPL environment and to allow the codification of these problems a cubic splines dynamic library for AMPL was developed. The discretization method used to solve the formulated problems is implemented in the NSIPS solver and numerical results with four particular problems are shown.

Suggested Citation

  • A. Ismael F. Vaz & Edite M. G. P. Fernandes, 2006. "Tools for Robotic Trajectory Planning Using Cubic Splines and Semi-Infinite Programming," Lecture Notes in Economics and Mathematical Systems, in: Alberto Seeger (ed.), Recent Advances in Optimization, pages 399-413, Springer.
    • Handle: RePEc:spr:lnechp:978-3-540-28258-7_23
    DOI: 10.1007/3-540-28258-0_23
    as

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