A robot path planning approach based on generalized semi-infinite optimization
Han Liu
Qianying Tan
Yongji Wang
Dept. of Comput. Sci., Toronto Univ., Ont., Canada;
This paper appears in: Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Publication Date: 1-3 Dec. 2004
Volume: 2,
On page(s): 768- 773 vol.2
ISSN:
ISBN: 0-7803-8645-0
INSPEC Accession Number: 8412031
Current Version Published: 2005-06-13
Abstract
This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work and converts the real-time obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of a delicate mathematical transformation, which leads to an efficient real-time robotics' path planning approach. Motivated by the practical requirements of obstacle representation, a generalized semi-infinite optimization problem (GSOP) with not only intersection but also union operations was proposed and a mathematical solution to it was developed. Simulation results in 3D space have been presented to show its merits.
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