Planned contacts and collision avoidance in optimal control problems

Leyendecker S, Johnson G, Ortiz M (2012)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2012

Pages Range: DVD, 10 pages

Conference Proceedings Title: Proceedings of the 2nd Joint International Conference on Multibody System Dynamics

Event location: Stuttgart DE

Abstract

In previous works, discrete mechanics and optimal control for constrained systems (DMOCC) has been introduced for the structure preserving simulation of optimal control problems for rigid multibody systems, where by possible contacts or collisions between the bodies have been disregarded. In the formulation presented here, both collision avoidance as well as explicitly planned collisions between non-smooth bodies are included. To this end, a subdifferentiable global contact detection algorithm, the supporting separating hyperplane linear program (SSHLP), based on the signed distance between supporting hyperplanes of two convex sets, is used in the simulation of optimal control problems.

Authors with CRIS profile

Sigrid Leyendecker Institute of Applied Dynamics

Involved external institutions

California Institute of Technology (Caltech) US United States (USA) (US)

How to cite

APA:

Leyendecker, S., Johnson, G., & Ortiz, M. (2012). Planned contacts and collision avoidance in optimal control problems. In Proceedings of the 2nd Joint International Conference on Multibody System Dynamics (pp. DVD, 10 pages). Stuttgart, DE.

MLA:

Leyendecker, Sigrid, Gwendolyn Johnson, and Michael Ortiz. "Planned contacts and collision avoidance in optimal control problems." Proceedings of the 2nd Joint International Conference on Multibody System Dynamics, Stuttgart 2012. DVD, 10 pages.

BibTeX: Download