The solution of constrained motion planning is an important task in a wide number of application fields. The real-time solution of such a problem, formulated in the frame- work of optimal control theory, is a challenging issue. We prove that a real-time solution of the constrained motion planning problem for multibody systems is possible for practical real-life applications on standard personal computers. The proposed method is based on an indirect approach that eliminates the inequalities via penalty formulation and solves the boundary value problem by a combination of finite differ- ences and Newton–Broyden algorithm. Two application examples are presented to validate the method and for performance comparisons. Numerical results show that the approach is real-time capable if the correct penalty formulation and settings are chosen.

Real-time motion planning for multibody systems / Bertolazzi, Enrico; Biral, Francesco; Da Lio, Mauro. - In: MULTIBODY SYSTEM DYNAMICS. - ISSN 1384-5640. - STAMPA. - 17:2-3(2007), pp. 119-139. [10.1007/s11044-007-9037-7]

Real-time motion planning for multibody systems

Bertolazzi, Enrico;Biral, Francesco;Da Lio, Mauro
2007-01-01

Abstract

The solution of constrained motion planning is an important task in a wide number of application fields. The real-time solution of such a problem, formulated in the frame- work of optimal control theory, is a challenging issue. We prove that a real-time solution of the constrained motion planning problem for multibody systems is possible for practical real-life applications on standard personal computers. The proposed method is based on an indirect approach that eliminates the inequalities via penalty formulation and solves the boundary value problem by a combination of finite differ- ences and Newton–Broyden algorithm. Two application examples are presented to validate the method and for performance comparisons. Numerical results show that the approach is real-time capable if the correct penalty formulation and settings are chosen.
2007
2-3
Bertolazzi, Enrico; Biral, Francesco; Da Lio, Mauro
Real-time motion planning for multibody systems / Bertolazzi, Enrico; Biral, Francesco; Da Lio, Mauro. - In: MULTIBODY SYSTEM DYNAMICS. - ISSN 1384-5640. - STAMPA. - 17:2-3(2007), pp. 119-139. [10.1007/s11044-007-9037-7]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/70748
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