ROBOTIC MOTION PLANNING USING CONVEX OPTIMIZATION METHODS

Abstract

Abstract - Collision avoidance techniques tend to derive therobot away of the obstacles in minimal total travel distance. Most ofthe collision avoidance algorithms have trouble get stuck in a localminimum. A new technique is to avoid local minimum in convexoptimization-based path planning. Obstacle avoidance problem isconsidered as a convex optimization problem under system state andcontrol constraints. The idea is by considering the obstacles as aconvex set of points which represents the obstacle that encloses inminimum volume ellipsoid, also the addition of the necessary offsetdistance and the modified motion path is presented. In the analysis,the results demonstrated the effectiveness of the suggested motionplanning by using the convex optimization technique.