The recursive quadratic programming (RQP) technique has been successfully applied for the motion planning problem. This paper inherits the RQP optimization formulation to solve collision-free motion planning problems. The focus of the paper is to develop a more accurate approach to represent the swept volume based on Hermite interpolation. The non-convex swept volume may be described by parametric representation. Based on this idea, the non-convex limitation of the motion planning by the previous RQP technique can be overcome and it has yielded accurate answers in distance calculation. Also, have been presented to illustrate and demonstrate this approach in the paper.
|Journal||Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A|
|Publication status||Published - 2010|
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