The DOI matches its Crossref record; 15 of the 15 references it cites were found in a registry or an index.
Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
Open accessAbstract
This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem is transformed here into a convex optimal control problem with a single state. Various convexity-preserving extension are introduced, resulting in a versatile approach for optimal path tracking. A direct transcription method is presented that reduces finding the globally optimal trajectory to solving a second-order cone program using robust numerical algorithms that are freely available. Validation against known examples and application to a more complex example illustrate the versatility and practicality of the new method.
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Cites
Boyd, S., & Vandenberghe, L. (2004) · doi:10.1017/cbo9780511804441 · Cited by 56,601
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Sturm, J. F. (1999) · Optimization Methods and Software · doi:10.1080/10556789908805766 · Cited by 7,377
Applications of second-order cone programming
Lobo, M. S., Vandenberghe, L., Boyd, S., & Lebret, H. (1998) · Linear Algebra and its Applications · doi:10.1016/s0024-3795(98)10032-0 · Cited by 2,401
Primal-Dual Interior-Point Methods
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Principles of Robot Motion: Theory, Algorithms, and Implementations
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Practical Methods for Optimal Control using Nonlinear Programming
Betts, & Kolmanovsky (2002) · Applied Mechanics Reviews · doi:10.1115/1.1483351 · Cited by 1,443
Time-Optimal Control of Robotic Manipulators Along Specified Paths
Bobrow, J. E., Dubowsky, S., & Gibson, J. S. (1985) · The International Journal of Robotics Research · doi:10.1177/027836498500400301 · Cited by 1,315
A Multiple Shooting Algorithm for Direct Solution of Optimal Control Problems *
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Cited by
Geometrically Constrained Trajectory Optimization for Multicopters
Wang, Z., Zhou, X., Xu, C., & Gao, F. (2022) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3160022 · Cited by 434
Metadata
- Authors
- Verscheure, D., Demeulenaere, B., Swevers, J., De Schutter, J., & Diehl, M.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 2009-10
- Volume
- 54
- Issue
- 10
- Pages
- 2318-2327
- ISSN
- 0018-9286 (ISSN-L)
- 1558-2523
- OpenAlex
- W2099454002
- Cited by
- 536
- References
- 15
- FWCI
- 11.73
- Type
- journal article
- Language
- en
- Open access
- green
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- Verscheure, D., Demeulenaere, B., Swevers, J., De Schutter, J., & Diehl, M. (2009). Time-Optimal Path Tracking for Robots: A Convex Optimization Approach. IEEE Transactions on Automatic Control. https://doi.org/10.1109/tac.2009.2028959
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