Name
Abstract | ||
|---|---|---|
Because of their importance in many applications, questions of path planning and reachability analysis for nonlinear dynamical systems have been studied extensively in the control theory. Here we focus on the cases when the controlled systems are constrained to evolve in a certain known set (e.g avoidance of obstacles). We study general framework based on an optimal control approach and on solving Hamilton-Jacobi (HJ) equations. This approach provides a very efficient tool for treating many cases encountered in real applications and can be extended to general situations including moving targets and/or obstacles problems, dynamical systems under uncertainties, or differential games. The relevance of the method will be shown on some numerical examples (motion planning with obstacle avoidance). |
Year | DOI | Venue |
|---|---|---|
2011 | 10.5555/2151688.2151693 | VALUETOOLS |
Keywords | Field | DocType |
motion planning,dynamical system,hjb approach,optimal control approach,g avoidance,general situation,obstacles problem,obstacle avoidance,general framework,control theory,reachabilty analysis,nonlinear dynamical system,optimal control theory,level set method,numerical analysis,scientific computing | Obstacle avoidance,Motion planning,Hamilton–Jacobi–Bellman equation,Mathematical optimization,Optimal control,Level set method,Computer science,Control theory,Reachability,Dynamical systems theory,Numerical analysis | Conference |
ISBN | Citations | PageRank |
978-1-936968-09-1 | 0 | 0.34 |
References | Authors | |
6 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Olivier Bokanowski | 1 | 98 | 12.07 |
| Anna Désilles | 2 | 0 | 0.34 |
| Hasnaa Zidani | 3 | 101 | 17.27 |