Cart (Loading....) | Create Account
Close category search window

Continuous path planning with multiple constraints

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Mitchell, I.M. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Sastry, S.

We examine the problem of planning a path through a low dimensional continuous state space subject to upper bounds on several additive cost metrics. For the single cost case, previously published research has proposed constructing the paths by gradient descent on a local minima free value function. This value function is the solution of the Eikonal partial differential equation, and efficient algorithms have been designed to compute it. In this paper we propose an auxiliary partial differential equation with which we can evaluate multiple additive cost metrics for paths which are generated by value functions; solving this auxiliary equation adds little more work to the value function computation. We then propose an algorithm which generates paths whose costs lie on the Pareto optimal surface for each possible destination location, and we can choose from these paths those which satisfy the constraints. The procedure is practical when the sum of the state space dimension and number of cost metrics is roughly six or below.

Published in:

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on  (Volume:5 )

Date of Conference:

9-12 Dec. 2003

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.