https://github.com/auralius/ding-zhou-strusberg

Optimal Path Planning in the Workspace for Articulated Robots using Mixed Integer Programming (DOI: 10.1109/IROS.2009.5354313)
https://github.com/auralius/ding-zhou-strusberg

cvxpy linear-programming mixed-integer-programming paper-implementations scara trajectory-optimization

Last synced: 3 months ago
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Optimal Path Planning in the Workspace for Articulated Robots using Mixed Integer Programming (DOI: 10.1109/IROS.2009.5354313)

• Host: GitHub
• URL: https://github.com/auralius/ding-zhou-strusberg
• Owner: auralius
• Created: 2024-05-31T10:59:02.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-05-31T11:08:08.000Z (over 1 year ago)
• Last Synced: 2025-02-01T10:27:09.302Z (9 months ago)
• Topics: cvxpy, linear-programming, mixed-integer-programming, paper-implementations, scara, trajectory-optimization
• Language: Jupyter Notebook
• Homepage:
• Size: 6.55 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# ding-zhou-strusberg

Optimal Path Planning in the Workspace for Articulated Robots using Mixed Integer Programming

By: Hao Ding, Mingxiang Zhou, and Olaf Stursberg

(DOI: 10.1109/IROS.2009.5354313)

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Fig.1. Planning result of a 2-DOF robot among static obstacles for the minimization of the average kinetic energy. 

![](https://github.com/auralius/ding-zhou-strusberg/blob/main/fig1.gif)

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Fig2. Planning result of the 2-DOF robot with static obstacles for the minimization of the transition time.

![](https://github.com/auralius/ding-zhou-strusberg/blob/main/fig2.gif)

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Fig. 3. Planning result of the 2-DOF robot with a moving obstacle.

![](https://github.com/auralius/ding-zhou-strusberg/blob/main/fig3.gif)