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Optimization-based approach to path planning for closed chain robot systems

Wojciech Szynkiewicz;  Jacek Błaszczyk — 2011

International Journal of Applied Mathematics and Computer Science

An application of advanced optimization techniques to solve the path planning problem for closed chain robot systems is proposed. The approach to path planning is formulated as a “quasi-dynamic” NonLinear Programming (NLP) problem with equality and inequality constraints in terms of the joint variables. The essence of the method is to find joint paths which satisfy the given constraints and minimize the proposed performance index. For numerical solution of the NLP problem, the IPOPT solver is used,...

Object library of algorithms for dynamic optimization problems: benchmarking SQP and nonlinear interior point methods

Jacek Błaszczyk;  Andrzej Karbowski;  Krzysztof Malinowski — 2007

International Journal of Applied Mathematics and Computer Science

The main purpose of this paper is to describe the design, implementation and possibilities of our object-oriented library of algorithms for dynamic optimization problems. We briefly present library classes for the formulation and manipulation of dynamic optimization problems, and give a general survey of solver classes for unconstrained and constrained optimization. We also demonstrate methods of derivative evaluation that we used, in particular automatic differentiation. Further, we briefly formulate...

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