Computationally efficient energy optimization of multiple robots
Paper in proceedings, 2017

This paper presents convex modeling techniques for the problem of optimal velocity control of multiple robots on given intersecting paths. The optimal control problem is formulated as a nonlinear program, which generates predictive state and control trajectories that avoid collisions among the robots and minimize a certain performance index, such as operation time, energy dissipation and actuator usage. Advantages and disadvantages of two modeling approaches are discussed, involving a variable change with square of velocity, or alternatively inverse of velocity. The performance of the two approaches is evaluated in a case study with an industrial robot.

Author

Oskar Wigström

Chalmers, Signals and Systems, Systems and control, Automation

Nikolce Murgovski

Chalmers, Signals and Systems, Systems and control, Mechatronics

Sarmad Riazi

Chalmers, Signals and Systems, Systems and control, Automation

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control, Automation

Proc. 13th IEEE Conference on Automation Science and Engineering (CASE 2017)

2161-8089 (eISSN)

Areas of Advance

Information and Communication Technology

Production

Subject Categories

Computational Mathematics

Robotics

DOI

10.1109/COASE.2017.8256156

More information

Created

1/17/2018