Optimal visibility-based path and motion planning of mobile observers for 3-D objects

被引：2

作者：

Wang, P. K. C. ^{[1
]}

机构：

[1] Univ Calif Los Angeles, Dept Elect Engn, Los Angeles, CA 90095 USA

来源：

NONLINEAR ANALYSIS-THEORY METHODS & APPLICATIONS | 2009年 / 71卷 / 12期

关键词：

Optimal path planning; Optimal motion planning; Non-smooth optimization problem; Optimal control; Visibility; Mobile observers;

D O I：

10.1016/j.na.2008.12.008

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

Various optimization problems derived from visibility-based path and motion planning of mobile observers for three-dimensional objects such as asteroids are considered. First, the mathematical formulations of these problems are presented. These problems are generally non-smooth. Then, sufficient conditions for the existence of solutions are established. The nature of the optimal solutions to some of the posed problems is illustrated by simple examples. Next, the computational complexities in the solution of these problems are discussed briefly. Finally, explicit necessary optimality conditions for asteroid-observer optimal motion planning problems are presented. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：E839 / E848

页数：10

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