A new optimization-driven path planning method with probabilistic completeness for wheeled mobile robots

Wheeled mobile robots are widely utilized for environment-exploring tasks both on earth and in space. As a basis for global path planning tasks for wheeled mobile robots, in this study we propose a method for establishing an energy-based cost map. Then, we utilize an improved dual covariant Hamiltonian optimization for motion planning method, to perform point-to-region path planning in energy-based maps. The method is capable of efficiently handling high-dimensional path planning tasks with non-convex cost functions through applying a robust active set algorithm, that is, non-monotone gradient projection algorithm. To solve the problem that the path planning process is locked in weak minima or non-convergence, we propose a randomized variant of the improved dual covariant Hamiltonian optimization for motion planning based on simulated annealing and Hamiltonian Monte Carlo methods. The results of simulations demonstrate that the final paths generated can be time efficient, energy efficient and smooth. And the probabilistic completeness of the method is guaranteed.

On the regularity of very weak minima

We consider very weak minimisers u of variational integrals ∫ F(x, Du(x)) dx and very weak solutions u of nonlinear elliptic systems div A(x, u, Du) = 0; we prove higher integrability for the gradient Du without any homogeneity on ξ→A(x,u,ξ) thus improving on a result by Iwaniec and Sbordone.

Generalised convexity and duality in multiple objective programming

By considering the concept of weak minima, different scalar duality results are extended to multiple objective programming problems. A number of weak, strong and converse duality theorems are given under a variety of generalised convexity conditions.