NDLI: Mixed integer/LMI programs for low-level path planning

Content Provider	IEEE Xplore Digital Library
Author	Prasanth, R.K. Boskovic, J.D. Mehra, R.K.
Copyright Year	2002
Description	Author affiliation: Sci. Syst. Co. Inc., Woburn, MA, USA (Prasanth, R.K.; Boskovic, J.D.; Mehra, R.K.)
Abstract	Trajectory generation methods use a finite dimensional parameterization of solutions and impose constraints on a finite grid in time. They result in large feasibility problems and are at best only sufficient. We show that there is no need to grid if the admissible trajectories are restricted to polynomials of degree no larger than a specified bound. A finite dimensional necessary and sufficient condition, whose size depends only the assumed degree bound, is presented. We also give a systematic procedure to approximate non-convex constraints. The procedure leads to mixed integer/LMI programs. The techniques are used to improve some existing trajectory generation methods and develop new approximation methods. A numerical example is provided for illustration.
Sponsorship	American Autom. Control Council IFAC SICE
Starting Page	608
Ending Page	613
File Size	383423
Page Count	6
File Format	PDF
ISBN	0780372980
ISSN	07431619
DOI	10.1109/ACC.2002.1024876
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Path planning Polynomials Space vehicles Trajectory Mesh generation Approximation methods Collision avoidance Air traffic control Remotely operated vehicles Mobile robots
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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