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 language | English |
|---|---|
| Pages (from-to) | 123-142 |
| Number of pages | 20 |
| Journal | Robotica |
| Volume | 18 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2000 |
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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 journal › Article
TY - JOUR
T1 - Two novel approaches for unmanned underwater vehicle path planning
T2 - Constrained Optimization and Semi-infinite Constrained Optimization
AU - Wang, Yongji
AU - Lane, David M.
AU - Falconer, Gavin J.
PY - 2000
Y1 - 2000
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0033878545&partnerID=8YFLogxK
U2 - 10.1017/S0263574799002015
DO - 10.1017/S0263574799002015
M3 - Article
VL - 18
SP - 123
EP - 142
JO - Robotica
JF - Robotica
SN - 0263-5747
IS - 2
ER -