A robot path planning approach based on generalized semi-infinite optimization

Han Liu, Qianying Tang, Yongji Wang
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Abstract

This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work and converts the real-time obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of a delicate mathematical transformation, which leads to an efficient real-time robotics' path planning approach. Motivated by the practical requirements of obstacle representation, a generalized semi-infinite optimization problem (GSOP) with not only intersection but also union operations was proposed and a mathematical solution to it was developed. Simulation results in 3D space have been presented to show its merits.
基于广义半无限优化的机器人路径规划方法
本文继承前人研究的不等式和优化技术的基本思想,通过精细的数学变换,将实时避障问题转化为半无限约束优化问题,从而得到一种高效的实时机器人路径规划方法。从障碍物表示的实际需要出发,提出了一种既有交又有并运算的广义半无限优化问题,并给出了该问题的数学解。在三维空间的仿真结果显示了该方法的优点。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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