{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,12]],"date-time":"2026-08-12T02:18:49Z","timestamp":1786501129126,"version":"build-2736575974"},"reference-count":28,"publisher":"Walter de Gruyter GmbH","issue":"7","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020,7,26]]},"abstract":"<jats:title>Zusammenfassung<\/jats:title>\n               <jats:p>Dieser Beitrag stellt eine modellpr\u00e4diktive Pfadfolgeregelung f\u00fcr die Kombination mit einer kollisionsfreien Bewegungsplanung f\u00fcr Roboter vor. Zwei Besonderheiten sind mit diesem Anwendungsfall verbunden. Zum einen wird keine hochgenaue Pfadfolge ben\u00f6tigt, solange die Bewegung kollisionsfrei ist. Somit kann die Pfadfolgeregelung vom geplanten Pfad abweichen, um die Zielkonfiguration effizienter zu erreichen. Zum anderen ist eine exakte Bewegung entlang des Pfades prinzipiell m\u00f6glich, so dass mit Hilfe einer Referenztrajektorie rekursive L\u00f6sbarkeit und Stabilit\u00e4t garantiert werden kann. Die Vorteile zeigen sich vor allem bei graphbasierten Planungsverfahren, wo die berechneten Pfade typischerweise st\u00fcckweise linear sind und eine exakte Pfadfolge sehr aufw\u00e4ndig ist. Die Anwendung der Methodik wird in Simulationen f\u00fcr einen Manipulator und einen mobilen Roboter gezeigt.<\/jats:p>","DOI":"10.1515\/auto-2020-0048","type":"journal-article","created":{"date-parts":[[2020,7,17]],"date-time":"2020-07-17T13:08:45Z","timestamp":1594991325000},"page":"557-570","source":"Crossref","is-referenced-by-count":3,"title":["Pr\u00e4diktive Pfadfolgeregelung f\u00fcr die kollisionsfreie Bewegungsplanung von Robotern"],"prefix":"10.1515","volume":"68","author":[{"given":"Andreas","family":"V\u00f6lz","sequence":"first","affiliation":[{"name":"Lehrstuhl f\u00fcr Regelungstechnik , Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg , Cauerstra\u00dfe 7 , Erlangen , Deutschland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Knut","family":"Graichen","sequence":"additional","affiliation":[{"name":"Lehrstuhl f\u00fcr Regelungstechnik , Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg , Cauerstra\u00dfe 7 , Erlangen , Deutschland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"374","published-online":{"date-parts":[[2020,7,3]]},"reference":[{"key":"2023033110173091353_j_auto-2020-0048_ref_001_w2aab3b7d163b1b6b1ab2ab1Aa","unstructured":"Mathias Hauan Arbo, Esten Ingar Gr\u00f8tli and Jan Tommy Gravdahl. 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