Open AccessAn Interval-based Sliding Horizon Motion Planning Method
Author(s) -
Julien Alexandre Dit Sandretto,
Elliot Brendel,
Alexandre Chapoutot
Publication year - 2018
Publication title -
ifac-papersonline
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.308
H-Index - 72
eISSN - 2405-8971
pISSN - 2405-8963
DOI - 10.1016/j.ifacol.2018.08.050
Subject(s) - motion planning , interval (graph theory) , computation , time horizon , bounded function , mathematical optimization , horizon , computer science , motion (physics) , set (abstract data type) , path (computing) , underwater , control theory (sociology) , mathematics , algorithm , artificial intelligence , robot , geology , geometry , control (management) , combinatorics , mathematical analysis , oceanography , programming language
A new algorithm of motion planning based on set-membership approach is presented. The goal of this algorithm is to find a safe and optimal path taking into account various sources of bounded uncertainties on the dynamical model of the plant, on the model of the environment, while being robust with respect to the numerical approximations introduced by numerical integration methods. The main approach is based on a sliding horizon method to predict the behavior of the system allowing the computation of an optimal path. As an example, the motion planning algorithm is applied to an Autonomous Underwater Vehicle (AUV) case study, showing the benefit of the proposed approach.
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