A Convex Optimization Based Path Planning Algorithm for Robot Motion in Constrained Space

Abstract

In this paper a unique algorithm is proposed for optimal path planning of a robot end-effector in a constrained space with static obstacle. The algorithm for the optimal cubic spline corresponding to the reference/desired joint trajectory is obtained using a convex optimization based algorithm. For optimization L2 / L∞ norm based cost functions are considered and the continuity of the velocity and the acceleration of the robot in joint space at each and every boundary point is taken as the constraint. Finally, the proposed algorithm is developed using MATLAB CVX and is applied for path planning of the end-effector of a SCARA, in presence of circular obstacle in its workspace. Simulation results are presented to have validation of the proposed algorithm.