Time optimal trajectory planning in dynamic environments

Paolo Fiorini, Zvi Shiller

Research output: Contribution to journalConference articlepeer-review

55 Scopus citations


This paper presents a method for motion planning in dynamic environments, subject to robot dynamics and actuator constraints. The time optimal trajectory is computed by first generating an initial guess using the concept of velocity obstacle. The initial guess, computed by a global search over a tree of avoidance maneuvers, is then optimized using a dynamic optimization. This method is applicable to repetitive tasks in known dynamic environments, as is demonstrated for a planar robot manipulator.

Original languageEnglish
Pages (from-to)1553-1558
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1996
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 22 Apr 199628 Apr 1996


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