Two novel approaches for unmanned underwater vehicle path planning

Constrained Optimization and Semi-infinite Constrained Optimization

Yongji Wang, David M. Lane, Gavin J. Falconer

Research output: Contribution to journalArticle

Abstract

In this paper, two novel approaches to unmanned underwater vehicle path planning are presented. The main idea of the first approach, referred to as Constrained Optimization (CO) is to represent the free space of the workspace as a set of inequality constraints using vehicle configuration variables. The second approach converts robot path planning into a Semi-infinite Constrained Optimization (SCO) problem. The function interpolation technique is adopted to satisfy the start and goal configuration requirements. Mathematical foundations for Constructive Solid Geometry (CSG), Boolean operations and approximation techniques are also presented to reduce the number of constraints, and to avoid local minima. The advantages of these approaches are that the mature techniques developed in optimization theory which guarantee convergence, efficiency and numerical robustness can be directly applied to the robot path planning problem. Simulation results have been presented.

Original languageEnglish
Pages (from-to)123-142
Number of pages20
JournalRobotica
Volume18
Issue number2
DOIs
Publication statusPublished - 2000

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Constrained optimization
Motion planning
Robots
Interpolation
Geometry
Unmanned underwater vehicles

Cite this

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Two novel approaches for unmanned underwater vehicle path planning : Constrained Optimization and Semi-infinite Constrained Optimization. / Wang, Yongji; Lane, David M.; Falconer, Gavin J.

In: Robotica, Vol. 18, No. 2, 2000, p. 123-142.

Research output: Contribution to journalArticle

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