文章基本信息

标题：On corner cutting in multi-obstacle avoidance problems
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作者：Florin Stoican ; Esten Ingar Grøtli ; Ionela Prodan 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：23
页码：185-190
DOI：10.1016/j.ifacol.2015.11.281
语种：English
出版社：Elsevier
摘要：AbstractOne challenging and not extensively studied issue in obstacle avoidance is the corner cutting problem. Avoidance constraints are usually imposed at the sampling time without regards to the intra-sample behavior of the dynamics. This paper improves upon state of the art by describing a multi-obstacle environment over a hyperplane arrangement scaffolding, provides a piecewise description of the "shadow" regions and represents them into a combined mixed integer and predictive control formulation. Furthermore, over-approximation constraints which reduce to strictly binary formulations are discussed in detail. Illustrative proofs of concept, comparisons with the state of the art and simulation results over a classical multi-obstacle avoidance problem validate the benefits of the proposed approach.
关键词：KeywordsCorner cutting problemHyperplane arrangementModel Predictive Control (MPC)Mixed-Integer Programming (MIP)Multi-obstacle environment