Trajectory Planning for a Rigid Body Based on Voronoi Tessellation and Linear-Quadratic Feedback Control
When a rigid body moves in 3-dimensional space, it is of interest to nd a trajectory such that it avoids obstacles. With this report, we create an algorithm that nds such a trajectory for a 6- DOF rigid body. For this trajectory, both the rotation and translation of the rigid body are included. Th...
| Main Authors: | , , |
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| Format: | Others |
| Language: | English |
| Published: |
KTH, Optimeringslära och systemteori
2012
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-118351 |