Solving some optimal path planning problems using an approach based on measure theory

In this paper we solve a collection of optimal path planning problems using a method based on Measure theory. First we consider the problem as an optimization problem and then we convert it to an optimal control problem by defining some artificial control functions. Then we perform a metamorphosis in the space of problem. In fact we define all injection between the set of admissible pairs, containing the control vector function and a collision-free path defined oil free space and the space of positive Radon meausres. By properties of this kind of measures we obtain a linear programming problem that its solution gives rise to constructing approximate optimal trajectory of the original problem. Some numerical examples are proposed. (c) 2005 Elsevier Inc. All rights reserved.