On the general characteristics of 2D optimal obstacle-field guidance solution

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations

Abstract

This paper presents a computational framework of partitioning a dynamical system's free space in a way such that global optimality can be guaranteed by composing control policies over a local region. Unlike traditional triangulation methods, the partition method in this paper takes into account the topological layout, as well as the vehicle dynamics. With this framework, we show that spatial, dynamic behavior governed by optimality has an underlying structure, which reflect the spatio-dynamic dependency. This structure provides a basis for abstraction which is useful for the type of high level planning and reasoning that is needed for autonomous vehicle guidance. In this paper we focuses on a Dubins' vehicle motion model. Such a model is adequate for aircraft operating at a constant speed. Although restrictive, the insights and conclusions about this kind of vehicle can serve as basis for investigating more general systems.

Original languageEnglish (US)
Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages3448-3453
Number of pages6
DOIs
StatePublished - 2009
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: Dec 15 2009Dec 18 2009

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
CountryChina
CityShanghai
Period12/15/0912/18/09

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    Kong, Z., & Mettler May, B. F. (2009). On the general characteristics of 2D optimal obstacle-field guidance solution. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 3448-3453). [5400828] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2009.5400828