A penalty function method for constrained motion planning
A penalty function method for constrained motion planning
复制标题
约束运动规划的罚函数法
DOI：
--
复制
发表时间：
1994
期刊：
影响因子：
--
通讯作者：
Pierre Ferbach
中科院分区：
文献类型：
--
作者：
J. Barraquand;Pierre Ferbach
建立操纵约束为完整约束的充要条件。然后，作者提出了一种在存在操作约束的情况下进行运动规划的系统方法，该理论源于该理论。它的原理是用一系列收敛的约束较少的子问题来代替约束问题，越来越多地惩罚不满足约束的运动。每个子问题都使用标准路径规划器来解决。用变分动态规划的方法解子问题。实现的计划器解决了前所未有的复杂操作计划问题。
Establishes necessary and sufficient conditions under which manipulation constraints are holonomic. Then the authors present a systematic approach to motion planning in the presence of manipulation constraints deriving from this theory. Its principle is to replace a constrained problem by a convergent series of less constrained subproblems increasingly penalizing motions that do not satisfy the constraints. Each subproblem is solved using a standard path planner. The authors use the method of variational dynamic programming for solving the subproblems. The implemented planner has solved manipulation planning problems of unprecedented complexity.<<ETX>>