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

Han Liu, Qianying Tang, Yongji Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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. non-linear programming, obstacle avoidance, robotics, semi-infinite constrained optimization.

Original languageEnglish (US)
Title of host publication2004 IEEE Conference on Robotics, Automation and Mechatronics
Pages768-773
Number of pages6
StatePublished - Dec 1 2004
Event2004 IEEE Conference on Robotics, Automation and Mechatronics - , Singapore
Duration: Dec 1 2004Dec 3 2004

Publication series

Name2004 IEEE Conference on Robotics, Automation and Mechatronics

Other

Other2004 IEEE Conference on Robotics, Automation and Mechatronics
CountrySingapore
Period12/1/0412/3/04

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • Cite this

    Liu, H., Tang, Q., & Wang, Y. (2004). A robot path planning approach based on generalized semi-infinite optimization. In 2004 IEEE Conference on Robotics, Automation and Mechatronics (pp. 768-773). (2004 IEEE Conference on Robotics, Automation and Mechatronics).