Path generation based on convex lifting: optimization of the corridors
| Autor: | Marco Mirabilio, Sorin Olaru, Carlos E.T. Dórea, Alessio Iovine, Maria Domenica Di Benedetto |
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| Přispěvatelé: | Department of Information Engineering, Computer Science and Mathematics = Dipartimento di Ingegneria e Scienze dell'Informazione e Matematica [L'Aquila] (DISIM), Università degli Studi dell'Aquila = University of L'Aquila (UNIVAQ), University of L'Aquila [Italy] (UNIVAQ), Laboratoire des signaux et systèmes (L2S), CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), Universidade Federal do Rio Grande do Norte [Natal] (UFRN), European Project: 826276,CPS4EU(2019) |
| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: |
obstacle avoidance
Control and Systems Engineering [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering [SPI.NRJ]Engineering Sciences [physics]/Electric power linear systems [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] optimization [SPI.AUTO]Engineering Sciences [physics]/Automatic |
| Zdroj: | IFAC-PapersOnLine, appeared in IFAC CAO2022, 18th IFAC Workshop on Control Applications of Optimization 18th IFAC Workshop on Control Applications of Optimization (CAO) 18th IFAC Workshop on Control Applications of Optimization (CAO), Jul 2022, Gif sur Yvette, France. ⟨10.1016/j.ifacol.2022.09.034.⟩ |
| DOI: | 10.1016/j.ifacol.2022.09.034.⟩ |
| Popis: | International audience; The capability to compute a partition of a cluttered environment starting from the obstacles that lie in it enables the construction of a route connecting an initial point to a desired final one. In this paper, we revisit the convex lifting method for the computation of a suitable partition of the cluttered environment with the objective to propose a systematic procedure of reorganization of the cells within the partition in order to repel their boundaries from the obstacles. The ultimate goal is the construction of a connecting-path between an initial point and a final point characterized by a corridor with improved width guaranteeing the collision avoidance. The qualities of the corridors will impact the constraints on the motion of the controlled agent and consequently the real-time performance and robustness of the navigation in a cluttered environment. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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