| Article ID: | iaor20051205 |
| Country: | Netherlands |
| Volume: | 153 |
| Issue: | 3 |
| Start Page Number: | 607 |
| End Page Number: | 617 |
| Publication Date: | Mar 2004 |
| Journal: | European Journal of Operational Research |
| Authors: | Fernandes Edite M.G.P., Vaz A. Ismael F., Gomes M. Paula S.F. |
| Keywords: | programming: nonlinear |
In this paper we describe how robot trajectory planning can be formulated as a semi-infinite programming (SIP) problem. The formulation as a SIP problem allowed us to treat the problem with one of the three main classes of methods for solving SIP, the discretization class. Two of the robotics trajectory planning problems formulated were coded in the SIPAMPL environment which is publicly available. A B-Spline library was also created to allow the codification of the robotics trajectory problem.