@inproceedings{7a7746c0045f473f889078719ae0d79d,
title = "Generalized semi-infinite optimization and its application in robotics' path planning problem",
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.",
keywords = "Non-linear programming, Obstacle avoidance, Path planning, Robotics, Semi-infinite constrained optimization",
author = "Han Liu and Xiaolin Yang and Ji Zhang and Yongji Wang",
year = "2004",
language = "English (US)",
isbn = "1932415335",
series = "Proceedings of the International Conference on Artificial Intelligence, IC-AI'04",
pages = "1147--1153",
editor = "H.R. Arabnia and M. Youngsong",
booktitle = "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)",
note = "Proceedings of the International Conference on Artificial Intelligence, IC-AI'04 ; Conference date: 21-06-2004 Through 24-06-2004",
}