Optimization approaches for robot trajectory planning

Carlos Llopis-Albert, Francisco Rubio, Francisco Valero


The development of optimal trajectory planning algorithms for autonomous robots is a key issue in order to efficiently perform the robot tasks. This problem is hampered by the complex environment regarding the kinematics and dynamics of robots with several arms and/or degrees of freedom (dof), the design of collision-free trajectories and the physical limitations of the robots. This paper presents a review about the existing robot motion planning techniques and discusses their pros and cons regarding completeness, optimality, efficiency, accuracy, smoothness, stability, safety and scalability.


Algorithms; Optimal Trajectory; Kinematic and Dynamic constraints; Minimum time; Energy; Obstacle avoidance

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