Constraint-Aware Mesh Refinement Method by Reachability Set Envelope of Curvature Bounded Paths
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866910352275406848 |
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| author | Bae, Juho Bai, Ji Hoon Lee, Byung-Yoon Lee, Jun-Yong |
| author_facet | Bae, Juho Bai, Ji Hoon Lee, Byung-Yoon Lee, Jun-Yong |
| contents | This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing methods for constructing reachability sets in the literature are extended to derive the envelope of these sets, which determines the region swept by all feasible trajectories between adjacent sample points. Second, we propose a novel method to guarantee constraint violation-free between discrete states in two dimensions through mesh refinement approach. To illustrate the effectiveness of the proposed methodology, numerical simulations are conducted on real-time path planning for fixed-wing unmanned aerial vehicles. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_14304 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Constraint-Aware Mesh Refinement Method by Reachability Set Envelope of Curvature Bounded Paths Bae, Juho Bai, Ji Hoon Lee, Byung-Yoon Lee, Jun-Yong Systems and Control This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing methods for constructing reachability sets in the literature are extended to derive the envelope of these sets, which determines the region swept by all feasible trajectories between adjacent sample points. Second, we propose a novel method to guarantee constraint violation-free between discrete states in two dimensions through mesh refinement approach. To illustrate the effectiveness of the proposed methodology, numerical simulations are conducted on real-time path planning for fixed-wing unmanned aerial vehicles. |
| title | Constraint-Aware Mesh Refinement Method by Reachability Set Envelope of Curvature Bounded Paths |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2401.14304 |