### Abstract

A method combining the tools of combinatorics and optimal control theory is presented to solve the path-planning problem. Initially, a combinatorial problem is solved to identify collision-free paths orginally designed for a point object. Then the problem of moving the actual object through the safe paths for the point object is posed as an optimal control problem and is solved using a numerical technique involving finite-dimensional optimization. Some of the constraints to the optimization problem are in the form of inequalities, resulting in a nondifferentiable expression when augmented with the performance index. Because of this, the R. Hooke and T. A. Jeeves method (1961), which is computationally quite prohibitive, has been adopted. To overcome this burden, at least partially, a method has been introduced whereby several variables appearing in the optimization are grouped into aggregate quantities, thus reducing the number of actual variables used in the iterations. 2-D and 3-D examples illustrate the applicability of the proposed hybrid design.

Original language | English (US) |
---|---|

Pages (from-to) | 2276-2277 |

Number of pages | 2 |

Journal | Proceedings of the IEEE Conference on Decision and Control |

State | Published - Dec 1 1988 |

Event | Proceedings of the 27th IEEE Conference on Decision and Control - Austin, TX, USA Duration: Dec 7 1988 → Dec 9 1988 |

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### ASJC Scopus subject areas

- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization

### Cite this

**Hybrid design for robot path planning in the presence of obstacles.** / Srikant, R.; Basar, Tamer; Ahuja, Narendra.

Research output: Contribution to journal › Conference article

}

TY - JOUR

T1 - Hybrid design for robot path planning in the presence of obstacles

AU - Srikant, R.

AU - Basar, Tamer

AU - Ahuja, Narendra

PY - 1988/12/1

Y1 - 1988/12/1

N2 - A method combining the tools of combinatorics and optimal control theory is presented to solve the path-planning problem. Initially, a combinatorial problem is solved to identify collision-free paths orginally designed for a point object. Then the problem of moving the actual object through the safe paths for the point object is posed as an optimal control problem and is solved using a numerical technique involving finite-dimensional optimization. Some of the constraints to the optimization problem are in the form of inequalities, resulting in a nondifferentiable expression when augmented with the performance index. Because of this, the R. Hooke and T. A. Jeeves method (1961), which is computationally quite prohibitive, has been adopted. To overcome this burden, at least partially, a method has been introduced whereby several variables appearing in the optimization are grouped into aggregate quantities, thus reducing the number of actual variables used in the iterations. 2-D and 3-D examples illustrate the applicability of the proposed hybrid design.

AB - A method combining the tools of combinatorics and optimal control theory is presented to solve the path-planning problem. Initially, a combinatorial problem is solved to identify collision-free paths orginally designed for a point object. Then the problem of moving the actual object through the safe paths for the point object is posed as an optimal control problem and is solved using a numerical technique involving finite-dimensional optimization. Some of the constraints to the optimization problem are in the form of inequalities, resulting in a nondifferentiable expression when augmented with the performance index. Because of this, the R. Hooke and T. A. Jeeves method (1961), which is computationally quite prohibitive, has been adopted. To overcome this burden, at least partially, a method has been introduced whereby several variables appearing in the optimization are grouped into aggregate quantities, thus reducing the number of actual variables used in the iterations. 2-D and 3-D examples illustrate the applicability of the proposed hybrid design.

UR - http://www.scopus.com/inward/record.url?scp=0024178903&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0024178903&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0024178903

SP - 2276

EP - 2277

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

SN - 0191-2216

ER -