Optimization based robot motion planning in dynamic environments

Interim Master Thesis Presentation

Tobias Schöls

Monday, January 22, 2018, 14:00 - Friday, December 22, 2017, 16:00

Building 102 - SR 01-012

Mobile Robots have been around for quite a long time and the number of applications is yet growing. Efficient motion planning and avoidance of (dynamic) obstacles, however, are still subject to ongoing research. In my master thesis I take an optimization based approach towards this. The objective is to find and follow a time-optimal trajectory for differential drive robot in an environment that includes humans (dynamic obstacles). During this interim presentation of my master thesis I will present the advances I have taken, problems I encountered, and approaches to solve these.

After the  discussion of the talk I would like to share and discuss some ideas on merging the fields of machine learning, numerical optimization and optimization based control.