Rapid Updating for Path-Planning using Nonlinear Branch-and-Bound

AJ Eele, AG Richards

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

8 Citations (Scopus)

Abstract

This paper develops and tests a novel rapid updating technique for use with a nonlinear branch and bound optimisation method, tailored for finding optimal trajectories for a vehicle constrained to avoid fixed obstacles. The key feature of the rapid updating technique developed is the ability to increment and re-arrange the existing search tree reducing the amount of computation taken to find a new plan. The rapid updating techniques developed are combined into a receding horizon control and compared to full cold start method. The rapid updating technique demonstrated an average 62% solve time improvement over a cold start. The rapid updating method is also demonstrated for removal of obstacles from the environment and very large scale problems with 60 obstacles.
Translated title of the contributionRapid Updating for Path-Planning using Nonlinear Branch-and-Bound
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska
DOIs
Publication statusPublished - 2010

Bibliographical note

Conference Organiser: IEEE

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