文章基本信息

标题：Fast motion planning for a laboratory 3D gantry crane in the presence of obstacles
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作者：M.N. Vu ; P. Zips ; A. Lobe 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9508-9514
DOI：10.1016/j.ifacol.2020.12.2427
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a concept is presented for the fast motion planning of a 3D laboratory crane in a static environment with obstacles taking into account the dynamic constraints on the state variables and control inputs. The focus is set on the possibility of a fast (re)planning if the starting and/or target state is changing. The proposed concept consists of two parts: an offline trajectory planner to set up a database of collision-free, time optimal trajectories from the starting to the target space, with an average computing time of 0.17 s for one trajectory, and an online planner based on a constrained quadratic program, with an average computing time of 7 ms for one trajectory. Simulation results for a validated mathematical model demonstrate the feasibility of the proposed approach.
关键词：Keywordsfast optimal trajectory planningonline re-planningdirect collocation methodconstrained quadratic optimizationcollision avoidance3D gantry crane