Motion planning using navigation measure Conference Paper

abstract

• Navigation measure is introduced as a new tool to solve the motion planning problem in the presence of static obstacles. Existence of the navigation measure guarantees collision free convergence to the final destination set. Navigation measure can be viewed as a dual to the navigation function, a popular tool used in the motion planning literature today. While navigation function has its minimum at the final destination set and peaks at the obstacle sets, the navigation measure on the other hand takes maximum value at the destination set and is zero on the obstacle set. A linear programming formalism is proposed for the construction of navigation measure. Set oriented numerical methods are used to obtain finite dimensional approximation of the navigation measure. 2008 AACC.

name of conference

• 2008 American Control Conference

authors

• Bhattacharya, Raktim

published proceedings

• 2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12

author list (cited authors)

• Vaidya, U., & Bhattacharya, R.

citation count

• 4

complete list of authors

• Vaidya, U||Bhattacharya, R

publication date

• June 2008

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... American Control Conference. American Control Conference  Journal

keywords

• 46 Information And Computing Sciences
• 4602 Artificial Intelligence
• 49 Mathematical Sciences

Digital Object Identifier (DOI)

• 10.1109/ACC.2008.4586599

International Standard Book Number (ISBN) 13

• 978-1-4244-2078-0

start page

• 850

end page

• +

URL

• http%3A%2F%2Fdx.doi.org%2F10.1109%2Facc.2008.4586599