Generalized semi-infinite optimization and its application in robotics' path planning problem

Han Liu, Xiaolin Yang, Ji Zhang, Yongji Wang

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

Abstract

This paper presents a new real-time robot path planning approach which, to our best knowledge, is the first one in the robotic community. 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. 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. This leads to an efficient method for the real-time obstacle avoidance. Simulation results in 3D space have been presented to show its merits.

Original languageEnglish (US)
Title of host publicationProceedings of the International Conference on Artificial Intelligence, IC-AI'04 and Proceedings of the International Conference on Machine Learning; Models, Technologies and Applications, MLMTA'04)
EditorsH.R. Arabnia, M. Youngsong
Pages1147-1153
Number of pages7
StatePublished - Dec 1 2004
EventProceedings of the International Conference on Artificial Intelligence, IC-AI'04 - Las Vegas, NV, United States
Duration: Jun 21 2004Jun 24 2004

Publication series

NameProceedings of the International Conference on Artificial Intelligence, IC-AI'04
Volume2

Other

OtherProceedings of the International Conference on Artificial Intelligence, IC-AI'04
CountryUnited States
CityLas Vegas, NV
Period6/21/046/24/04

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence

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  • Cite this

    Liu, H., Yang, X., Zhang, J., & Wang, Y. (2004). Generalized semi-infinite optimization and its application in robotics' path planning problem. In H. R. Arabnia, & M. Youngsong (Eds.), Proceedings of the International Conference on Artificial Intelligence, IC-AI'04 and Proceedings of the International Conference on Machine Learning; Models, Technologies and Applications, MLMTA'04) (pp. 1147-1153). (Proceedings of the International Conference on Artificial Intelligence, IC-AI'04; Vol. 2).