Dynamic Robot Interaction

Automatic path planning tasks in robotics can be modeled by suitable optimal control problems. A particular challenge is the computation of optimal paths of robots that interact dynamically. We use multiple phases to model the maneuver, i.e. an approach phase, an interaction phase, and a return phase. This multiphase optimal control problem is then transformed by standard techniques to a single stage optimal control problem, which can be solved by a direct shooting method.

The results have been obtained at the Chair of Engineering Mathematics at the University of the Federal Armed Forces (http://www.unibw.de/lrt1/gerdts).

The following video shows an optimal dynamic robot interaction maneuver with two robots: