{"title":"A robot path planning approach based on generalized semi-infinite optimization","authors":"Han Liu, Qianying Tang, Yongji Wang","doi":"10.1109/RAMECH.2004.1438015","DOIUrl":null,"url":null,"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.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2004.1438015","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
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.