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Sensor-Based Trajectory Optimization
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Sensorbaserad Banplanering (Swedish)
Abstract [en]

In the robot industry, it is necessary to employ efficient trajectory planners to perform tasks with good performance, as well as provide the end-user with a friendly interface which does not require manual tuning to achieve optimal movements. A common method for trajectory planning is to first generate a geometric path and then determine an optimal trajectory along that path. This work investigates an alternative method were the underlying path is allowed to change dynamically during the planning procedure. The end result is a general framework and a software implementation for planning solution trajectories to optimal control problems in real time. Specific adaptations are made, to solve problems related to collision avoidance and moving targets, by introducing objective functions and constraints in the underlying optimization problem. The planner is evaluated after applying it in simple robot applications, that feature moving obstacles and targets. The planner looks promising for future use, but needs to be explored further before being applied in real applications.

Abstract [sv]

Inom robotindustrin är det nödvändigt att nyttja effektiva banplanerare för att utföra givna uppgifter med god prestanda, och även förse användaren med ett lätthanterligt gränssnitt som inte kräver manuell inställning för att erhålla optimala rörelsemönster. En vanlig metod inom banplanering är att först generera en geometrisk väg och sen bestämma en optimal bana längs den vägen. Det här arbetet undersöker en alternativ metod där den underliggande vägen tillåts förändras dynamiskt. Slutresultatet är ett generellt ramverk samt en mjukvaruimplementation för att planera lösningsbanor till optimala styrproblem i realtid. Specifika lösningar till problem som berör kollisionshantering och att fånga rörliga mål genomförs genom att introducera målfunktioner och villkor i det underliggande optimeringsproblemet. Banplaneraren utvärderas efter tillämpning i enklare robotapplikationer, där rörliga hinder och rörliga mål förekommer. Banplaneraren ser lovande ut för framtida bruk, men behöver utvecklas vidare innan den används i riktiga applikationer.

Place, publisher, year, edition, pages
2016.
Series
TRITA-MAT-E, 2016:28
National Category
Computational Mathematics
Identifiers
URN: urn:nbn:se:kth:diva-188684OAI: oai:DiVA.org:kth-188684DiVA: diva2:938822
External cooperation
ABB
Subject / course
Optimization and Systems Theory
Educational program
Master of Science - Applied and Computational Mathematics
Supervisors
Examiners
Available from: 2016-06-17 Created: 2016-06-17 Last updated: 2016-06-17Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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Output format
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