{"title":"Set-oriented optimal path planning of mobile robots by a polynomial rootfinder","authors":"Xuebo Zhang, Yongchun Fang","doi":"10.1109/CCA.2013.6662844","DOIUrl":null,"url":null,"abstract":"In real applications, mobile robots are usually controlled to reach a “pose set” rather than a specific point to achieve mobile manipulation tasks. Motivated by this observation, this paper proposes a real-time set-oriented optimal path planning method based on a multi-precision polynomial rootfinder. Specifically, after giving a formal formulation of the proposed “set-oriented path planning problem”, a specific circular set-oriented planning problem, wherein the target pose is on a circle with the orientation directed to the origin, is considered in this paper. It is shown that the optimal path planning problem reduces to a constrained univariate signomial programming problem to minimize a performance index related to the path length, and an effective solution to this optimization problem can be obtained by a fast multi-precision polynomial rootfinder in a real-time manner. Extensive simulation results are provided to validate the proposed approach.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Control Applications (CCA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.2013.6662844","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
In real applications, mobile robots are usually controlled to reach a “pose set” rather than a specific point to achieve mobile manipulation tasks. Motivated by this observation, this paper proposes a real-time set-oriented optimal path planning method based on a multi-precision polynomial rootfinder. Specifically, after giving a formal formulation of the proposed “set-oriented path planning problem”, a specific circular set-oriented planning problem, wherein the target pose is on a circle with the orientation directed to the origin, is considered in this paper. It is shown that the optimal path planning problem reduces to a constrained univariate signomial programming problem to minimize a performance index related to the path length, and an effective solution to this optimization problem can be obtained by a fast multi-precision polynomial rootfinder in a real-time manner. Extensive simulation results are provided to validate the proposed approach.