Name
Abstract | ||
|---|---|---|
This paper develops and tests a novel rapid updating technique for use with a nonlinear branch and bound optimisation method, tailored for finding optimal trajectories for a vehicle constrained to avoid fixed obstacles. The key feature of the rapid updating technique developed is the ability to increment and re-arrange the existing search tree reducing the amount of computation taken to find a new plan. The rapid updating techniques developed are combined into a receding horizon control and compared to full cold start method. The rapid updating technique demonstrated an average 62% solve time improvement over a cold start. The rapid updating method is also demonstrated for removal of obstacles from the environment and very large scale problems with 60 obstacles. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ROBOT.2010.5509732 | Robotics and Automation |
Keywords | Field | DocType |
optimisation,path planning,predictive control,tree searching,nonlinear branch and bound optimisation method,path-planning,rapid updating technique,receding horizon control,search tree | Motion planning,Branch and bound,Nonlinear system,Model predictive control,Control engineering,Engineering,Cold start (automotive),Trajectory,Search tree,Computation | Conference |
ISSN | ISBN | Citations |
1050-4729 E-ISBN : 978-1-4244-5040-4 | 978-1-4244-5040-4 | 1 |
PageRank | References | Authors |
0.36 | 5 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Alison Jennifer Eele | 1 | 1 | 0.36 |
| Arthur Richards | 2 | 268 | 26.94 |