Method of evolving junction on optimal path planning in flows fields

被引：0
作者：
Haoyan Zhai
Mengxue Hou
Fumin Zhang
Haomin Zhou
机构：
[1] Georgia Institute of Technology,Department of Mathematics
[2] Georgia Institute of Technology,Department of Electrical and Computer Engineering
来源：
Autonomous Robots | 2022年 / 46卷
关键词：
Optimal path planning; Intermittent diffusion; Method of evolving junctions;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
We propose an algorithm using method of evolving junctions to solve the optimal path planning problems with piece-wise constant flow fields. In such flow fields, we prove that the optimal trajectories, with respect to a convex Lagrangian in the objective function, must be formed by piece-wise constant velocity motions. Taking advantage of this property, we transform the infinite dimensional optimal control problem into a finite dimensional optimization and use intermittent diffusion to solve the problems. The algorithm is proven to be complete. At last, we demonstrate the performance of the algorithm with various simulation examples.
引用
收藏
页码：929 / 947
页数：18
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