TY - GEN
T1 - A robot path planning approach based on generalized semi-infinite optimization
AU - Liu, Han
AU - Tang, Qianying
AU - Wang, Yongji
PY - 2004/12/1
Y1 - 2004/12/1
N2 - 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. non-linear programming, obstacle avoidance, robotics, semi-infinite constrained optimization.
AB - 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. non-linear programming, obstacle avoidance, robotics, semi-infinite constrained optimization.
UR - http://www.scopus.com/inward/record.url?scp=11244312117&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=11244312117&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:11244312117
SN - 0780386469
SN - 9780780386464
T3 - 2004 IEEE Conference on Robotics, Automation and Mechatronics
SP - 768
EP - 773
BT - 2004 IEEE Conference on Robotics, Automation and Mechatronics
T2 - 2004 IEEE Conference on Robotics, Automation and Mechatronics
Y2 - 1 December 2004 through 3 December 2004
ER -