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)
Fig.1. Planning result of a 2-DOF robot among static obstacles for the minimization of the average kinetic energy.
Fig2. Planning result of the 2-DOF robot with static obstacles for the minimization of the transition time.
Fig. 3. Planning result of the 2-DOF robot with a moving obstacle.
