Preprint
Path Planning for Continuum Rods Using Bernstein Surfaces
arXiv.org
Cornell University
12/19/2023
DOI: 10.48550/arxiv.2312.12333
Abstract
This paper presents a method for optimal motion planning of continuum robots
by employing Bernstein surfaces to approximate the system's dynamics and impose
complex constraints, including collision avoidance. The main contribution is
the approximation of infinite-dimensional continuous problems into their
discrete counterparts, facilitating their solution using standard optimization
solvers. This discretization leverages the unique properties of Bernstein
surface, providing a framework that extends previous works which focused on
ODEs approximated by Bernstein polynomials. Numerical validations are conducted
through several numerical scenarios. The presented methodology offers a
promising direction for solving complex optimal control problems in the realm
of soft robotics.
Details
- Title: Subtitle
- Path Planning for Continuum Rods Using Bernstein Surfaces
- Creators
- Maxwell HammondVenanzio CichellaAmirreza F GolestanehCaterina Lamuta
- Resource Type
- Preprint
- Publication Details
- arXiv.org
- DOI
- 10.48550/arxiv.2312.12333
- eISSN
- 2331-8422
- Publisher
- Cornell University; Ithaca, New York
- Language
- English
- Date posted
- 12/19/2023
- Academic Unit
- IIHR--Hydroscience and Engineering; Mechanical Engineering
- Record Identifier
- 9984533456702771
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