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

Wojciech Szynkiewicz; Jacek Błaszczyk

International Journal of Applied Mathematics and Computer Science (2011)

- Volume: 21, Issue: 4, page 659-670
- ISSN: 1641-876X

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topWojciech Szynkiewicz, and Jacek Błaszczyk. "Optimization-based approach to path planning for closed chain robot systems." International Journal of Applied Mathematics and Computer Science 21.4 (2011): 659-670. <http://eudml.org/doc/208078>.

@article{WojciechSzynkiewicz2011,

abstract = {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, which implements a nonlinear primal-dual interior-point method, one of the leading techniques for large-scale nonlinear optimization.},

author = {Wojciech Szynkiewicz, Jacek Błaszczyk},

journal = {International Journal of Applied Mathematics and Computer Science},

keywords = {closed chain; path planning; nonlinear optimization; interior-point method},

language = {eng},

number = {4},

pages = {659-670},

title = {Optimization-based approach to path planning for closed chain robot systems},

url = {http://eudml.org/doc/208078},

volume = {21},

year = {2011},

}

TY - JOUR

AU - Wojciech Szynkiewicz

AU - Jacek Błaszczyk

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

JO - International Journal of Applied Mathematics and Computer Science

PY - 2011

VL - 21

IS - 4

SP - 659

EP - 670

AB - 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, which implements a nonlinear primal-dual interior-point method, one of the leading techniques for large-scale nonlinear optimization.

LA - eng

KW - closed chain; path planning; nonlinear optimization; interior-point method

UR - http://eudml.org/doc/208078

ER -

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