Time-Optimal Path Tracking for Robots: A Convex Optimization Approach¶

Authors: Diederik Verscheure, Bram Demeulenaere, Jan Swevers, Joris De Schutter, Moritz Diehl

Published: 2009 (Journal Paper)

Source: IEEE Transactions on Automatic Control (TAC)

Algorithm: Time-Optimal Path Tracking

DOI: 10.1109/TAC.2009.2028959

Summary¶

Demonstrates how to write down a large optimal control problem (OCP) for time-optimal path tracking for a robotic manipulator, considering many constraints and the dynamics related to such systems. The resulting OCP is a convex second-order cone program, which can be solved with a variety of generic solvers. The value of the paper mostly comes from just the handwritten transcription of the OCP.

Abstract¶

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.

Links¶

Primary

Paper ieeexplore.ieee.org

Standard

DOI 10.1109/TAC.2009.2028959