|Title:||Variational motion design in the presence of obstacles||Language:||English||Authors:||Hofer, Michael||Qualification level:||Doctoral||Advisor:||Husty, Manfred||Assisting Advisor:||Pottmann, Helmut||Issue Date:||2004||Number of Pages:||88||Qualification level:||Doctoral||Abstract:||
In this thesis we study the design of energy-minimizing rigid body motions that interpolate given input positions and avoid given fixed obstacles.
Our motion design problem is a curve interpolation problem in an appropriate manifold which in the unconstrained case is the group of Euclidean congruence transformations. We introduce a new metric for motion design where the mass distribution of the moving body enters the calculation, use a variational approach, derive interesting theoretic results concerning motion design and energy minimizing splines in manifolds, employ geometric optimization algorithms for the numerical solution of the posed problems and include the avoidance of obstacles in the design process via the use of appropriate barrier manifolds.
|Keywords:||Starrer Körper; Bewegung; Planung; Hindernis||URI:||https://resolver.obvsg.at/urn:nbn:at:at-ubtuw:1-9852
|Library ID:||AC04497314||Organisation:||E104 - Institut für Diskrete Mathematik und Geometrie||Publication Type:||Thesis
|Appears in Collections:||Thesis|
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