Real time trajectory optimization for nonlinear robotic systems: relaxation and convexification

DOI10.1016/J.SYSCONLE.2017.08.004zbMath1375.93085OpenAlexW2754918589MaRDI QIDQ1678576

Changliu Liu, Masayoshi Tomizuka

Publication date: 17 November 2017

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2017.08.004

zbMATH Keywords

optimal controlnonlinear optimizationnonconvex optimizationmotion planning

Mathematics Subject Classification ID

Nonconvex programming, global optimization (90C26) Quadratic programming (90C20) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Related Items (1)

The Convex Feasible Set Algorithm for Real Time Optimization in Motion Planning

Uses Software

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Cites Work

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• A new technique for inconsistent QP problems in the SQP method
• Convexification and global optimization in continuous and mixed-integer nonlinear programming. Theory, algorithms, software, and applications
• Revisions of constraint approximations in the successive QP method for nonlinear programming problems

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