文章基本信息

标题：Polyhedral potential field constructions for obstacle avoidance in a receding horizon formulation
本地全文：下载
作者：Theodor-Gabriel Nicu ; Florin Stoican ; Ionela Prodan 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：16
页码：254-259
DOI：10.1016/j.ifacol.2022.09.033
语种：English
出版社：Elsevier
摘要：AbstractWe revisit and enhance previous work pertaining to the use of polyhedral potential fields for motion planning in a receding horizon framework. We adapt the standard vertex-based mixed-integer (MI) representations of piecewise affine functions and propose three equivalent formulations which balance the complexity of the geometric representation with the size of the associated MI representation. In all cases, we arrive at formulations whose polyhedral support comes (either directly or as a refinement of it) from an associated hyperplane arrangement induced by the hyperplanes bounding the polyhedral obstacles.
关键词：KeywordsPolyhedral potential fieldSum functionMixed-Integer ProgrammingMotion planningHyperplane arrangement