Mixed-integer SOCP formulation of the path planning problem for heterogeneous multi-vehicle systems

2014 ◽  
Author(s):  
Martin Klauco ◽  
Slavomir Blazek ◽  
Michal Kvasnica ◽  
Miroslav Fikar
Keyword(s):  
Path Planning ◽  
Mixed Integer ◽  
Planning Problem ◽  
Vehicle Systems ◽  
Path Planning Problem

scholarly journals An optimal path planning problem for heterogeneous multi-vehicle systems

2016 ◽  
Vol 26 (2) ◽  
pp. 297-308 ◽  
Author(s):  
Martin Klaučo ◽  
Slavomír Blažek ◽  
Michal Kvasnica
Keyword(s):  
Path Planning ◽  
A Priori ◽  
Optimal Path ◽  
Mixed Integer ◽  
Planning Problem ◽  
Optimal Path Planning ◽  
Second Order Cone ◽  
Vehicle Systems ◽  
Close Distance ◽  
Path Planning Problem

Abstract A path planning problem for a heterogeneous vehicle is considered. Such a vehicle consists of two parts which have the ability to move individually, but one of them has a shorter range and is therefore required to keep in a close distance to the main vehicle. The objective is to devise an optimal path of minimal length under the condition that at least one part of the heterogeneous system visits all desired waypoints exactly once. Two versions of the problem are considered. One assumes that the order in which the waypoints are visited is known a priori. In such a case we show that the optimal path can be found by solving a mixed-integer second-order cone problem. The second version assumes that the order in which the waypoints are visited is not known a priori, but can be optimized so as to shorten the length of the path. Two approaches to solve this problem are presented and evaluated with respect to computational complexity.

scholarly journals Single Real Goal, Magnitude-Based Deceptive Path-Planning

Entropy ◽  
2020 ◽  
Vol 22 (1) ◽  
pp. 88 ◽  
Author(s):  
Kai Xu ◽  
Yunxiu Zeng ◽  
Long Qin ◽  
Quanjun Yin
Keyword(s):  
Integer Programming ◽  
Path Planning ◽  
Real World ◽  
Mixed Integer ◽  
Public Security ◽  
Planning Problem ◽  
Recent Developments ◽  
Goal Recognition ◽  
Path Planning Problem ◽  
Real Goal

Deceptive path-planning is the task of finding a path so as to minimize the probability of an observer (or a defender) identifying the observed agent’s final goal before the goal has been reached. It is one of the important approaches to solving real-world challenges, such as public security, strategic transportation, and logistics. Existing methods either cannot make full use of the entire environments’ information, or lack enough flexibility for balancing the path’s deceptivity and available moving resource. In this work, building on recent developments in probabilistic goal recognition, we formalized a single real goal magnitude-based deceptive path-planning problem followed by a mixed-integer programming based deceptive path maximization and generation method. The model helps to establish a computable foundation for any further imposition of different deception concepts or strategies, and broadens its applicability in many scenarios. Experimental results showed the effectiveness of our methods in deceptive path-planning compared to the existing one.

Solving the multi-objective path planning problem in mobile robotics with a firefly-based approach

2015 ◽  
Vol 21 (4) ◽  
pp. 949-964 ◽  
Author(s):  
Alejandro Hidalgo-Paniagua ◽  
Miguel A. Vega-Rodríguez ◽  
Joaquín Ferruz ◽  
Nieves Pavón
Keyword(s):  
Path Planning ◽  
Mobile Robotics ◽  
Planning Problem ◽  
Multi Objective ◽  
Path Planning Problem

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Robotica ◽  
2021 ◽  
pp. 1-30
Author(s):  
Ümit Yerlikaya ◽  
R.Tuna Balkan
Keyword(s):  
Path Planning ◽  
Extreme Environment ◽  
Configuration Spaces ◽  
Planning Problem ◽  
Different Types ◽  
Planning Algorithm ◽  
Line Path ◽  
Path Planning Algorithm ◽  
Path Planning Problem ◽  
System Operating

Abstract Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

Path Planning for Spheres in Three Dimensional Environments With Low Interference Index

1994 ◽  
Author(s):  
Duane W. Storti ◽  
Debasish Dutta
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Configuration Space ◽  
Local Knowledge ◽  
Three Dimensional ◽  
Target Point ◽  
Planning Problem ◽  
Spherical Object ◽  
Starting Point ◽  
Path Planning Problem

Abstract We consider the path planning problem for a spherical object moving through a three-dimensional environment composed of spherical obstacles. Given a starting point and a terminal or target point, we wish to determine a collision free path from start to target for the moving sphere. We define an interference index to count the number of configuration space obstacles whose surfaces interfere simultaneously. In this paper, we present algorithms for navigating the sphere when the interference index is ≤ 2. While a global calculation is necessary to characterize the environment as a whole, only local knowledge is needed for path construction.

ON THE PATH PLANNING PROBLEM IN THE VICINITY OF OBSTACLES

1998 ◽  
Vol 29 (8) ◽  
pp. 807-868 ◽  
Author(s):  
ALBERT Y. ZOMAYA MATT R. WRIGHT TAR
Keyword(s):  
Path Planning ◽  
Planning Problem ◽  
Path Planning Problem
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