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Computationally Tractable Formulations for Optimal Path Planning with Interception of Targets Neighborhoods
Slovak University of Technology Bratislava, Slovakia.
Slovak University of Technology Bratislava, Slovakia.
Slovak University of Technology Bratislava, Slovakia.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2017 (English)In: Journal of Guidance Control and Dynamics, ISSN 0731-5090, E-ISSN 1533-3884, Vol. 40, no 5, 1221-1230 p.Article in journal (Refereed) Published
Abstract [en]

Devising the planar routes of minimal length that are required to pass through predefined neighborhoods of target points plays an important role in reducing the missions operating cost. Two versions of the problem are considered. The first one assumes that the ordering of the targets is fixed a priori. In such a case, the optimal route is devised by solving a convex optimization problem formulated either as a second-order cone program or as a sum-of-squares optimization problem. Additional route properties, such as continuity and minimal curvature, are considered as well. The second version allows the ordering of the targets to be optimized to further reduce the route length. We show that such a problem can be solved by introducing additional binary variables, which allows the route to be designed using off-the-shelf mixed-integer solvers. A case study that shows that the proposed strategy is computationally tractable is presented.

Place, publisher, year, edition, pages
AMER INST AERONAUTICS ASTRONAUTICS , 2017. Vol. 40, no 5, 1221-1230 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-137598DOI: 10.2514/1.G002096ISI: 000400164100010OAI: oai:DiVA.org:liu-137598DiVA: diva2:1097374
Note

Funding Agencies|Scientific Grant Agency of the Slovak Republic [1/0403/15]; Slovak Research and Development Agency [APVV-15-0007]; STU Grant scheme of Excellent Teams of Young Researchers; Linkoping University CENIIT grant [11.05]

Available from: 2017-05-22 Created: 2017-05-22 Last updated: 2017-05-22

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Löfberg, Johan
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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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