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Combining Homotopy Methods and Numerical Optimal Control to Solve Motion Planning Problems
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-8354-6249
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0001-6957-2603
2018 (English)In: Proceedings of the 29th IEEE Intelligent Vehicles Symposium, 2018, p. 347-354Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal control tools to problem classes where these tools have previously not been applicable. Today these problems are typically solved using motion planners based on randomized or graph search. The general principle is to define a homotopy that transforms, or preferably relaxes, the original problem to an easily solved problem. In this work, it is shown that by combining a Sequential Quadratic Programming (SQP) method with a homotopy approach that gradually transforms the problem from a relaxed one to the original one, practically relevant locally optimal solutions to the motion planning problem can be computed. The approach is demonstrated in motion planning problems in challenging 2D and 3D environments, where the presented method significantly outperforms both a state-of-the-art numerical optimal control method and a state-of-the-art open-source optimizing sampling-based planner commonly used as benchmark. 

Place, publisher, year, edition, pages
2018. p. 347-354
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-151380ISBN: 978-1-5386-4451-5 (print)OAI: oai:DiVA.org:liu-151380DiVA, id: diva2:1249261
Conference
The 29th IEEE Intelligent Vehicles Symposium, Changshu, China, June 26-29, 2018
Funder
Wallenberg FoundationsAvailable from: 2018-09-18 Created: 2018-09-18 Last updated: 2018-09-25

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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  • Other style
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Language
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  • sv-SE
  • Other locale
More languages
Output format
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