Trajectory planning for mechanical systems in the presence of dynamic obstacles

Abstract

Abstract This paper deals with an optimal motion planning method for mechanical systems subjected to velocity and acceleration constraints in the presence of dynamical geometric obstacles. Using a state parametrization method based on time polynomials the trajectory planning problem is reformulated as a constrained nonlinear optimization problem which is solved using a numerical optimization toolbox. Quadrotor motion planning in the horizontal plane is considered as an illustration example.