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- W2079707050 abstract "This paper considers the planning of collision-free and energy-optimal trajectories for linear systems with decoupled dynamics for different degrees of freedom. A direct transcription of such a problem generally results in a non-convex problem due to the collision avoidance constraint. In this paper we propose a novel Alternating Quadratic Programming (AQP) algorithm to deal with the non-convex collision avoidance constraint, and generate a suboptimal solution for the original problem by alternatively solving a number of subproblems. It is proved that the AQP algorithm is guaranteed to converge, and the solution is locally optimal when the boundary of the collision-free region satisfies certain properties. The speed and energy-saving performance of the proposed method are demonstrated by numerical examples." @default.
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- W2079707050 date "2014-06-01" @default.
- W2079707050 modified "2023-09-26" @default.
- W2079707050 title "Energy-efficient collision-free trajectory planning using Alternating Quadratic Programming" @default.
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- W2079707050 doi "https://doi.org/10.1109/acc.2014.6859076" @default.
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