A robot path planning approach based on generalized semi-infinite optimization

Han Liu; Qianying Tang; Yongji Wang

A robot path planning approach based on generalized semi-infinite optimization

Han Liu^*, Qianying Tang, Yongji Wang

^*Corresponding author for this work

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work and converts the real-time obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of a delicate mathematical transformation, which leads to an efficient real-time robotics' path planning approach. Motivated by the practical requirements of obstacle representation, a generalized semi-infinite optimization problem (GSOP) with not only intersection but also union operations was proposed and a mathematical solution to it was developed. Simulation results in 3D space have been presented to show its merits. non-linear programming, obstacle avoidance, robotics, semi-infinite constrained optimization.

Original language	English (US)
Title of host publication	2004 IEEE Conference on Robotics, Automation and Mechatronics
Pages	768-773
Number of pages	6
State	Published - Dec 1 2004
Event	2004 IEEE Conference on Robotics, Automation and Mechatronics - , Singapore Duration: Dec 1 2004 → Dec 3 2004

Publication series

Name	2004 IEEE Conference on Robotics, Automation and Mechatronics

Other

Other	2004 IEEE Conference on Robotics, Automation and Mechatronics
Country/Territory	Singapore
Period	12/1/04 → 12/3/04

ASJC Scopus subject areas

Engineering(all)

Cite this

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title = "A robot path planning approach based on generalized semi-infinite optimization",

abstract = "This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work and converts the real-time obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of a delicate mathematical transformation, which leads to an efficient real-time robotics' path planning approach. Motivated by the practical requirements of obstacle representation, a generalized semi-infinite optimization problem (GSOP) with not only intersection but also union operations was proposed and a mathematical solution to it was developed. Simulation results in 3D space have been presented to show its merits. non-linear programming, obstacle avoidance, robotics, semi-infinite constrained optimization.",

author = "Han Liu and Qianying Tang and Yongji Wang",

year = "2004",

month = dec,

day = "1",

language = "English (US)",

isbn = "0780386469",

series = "2004 IEEE Conference on Robotics, Automation and Mechatronics",

pages = "768--773",

booktitle = "2004 IEEE Conference on Robotics, Automation and Mechatronics",

note = "2004 IEEE Conference on Robotics, Automation and Mechatronics ; Conference date: 01-12-2004 Through 03-12-2004",

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TY - GEN

T1 - A robot path planning approach based on generalized semi-infinite optimization

AU - Liu, Han

AU - Tang, Qianying

AU - Wang, Yongji

PY - 2004/12/1

Y1 - 2004/12/1

N2 - This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work and converts the real-time obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of a delicate mathematical transformation, which leads to an efficient real-time robotics' path planning approach. Motivated by the practical requirements of obstacle representation, a generalized semi-infinite optimization problem (GSOP) with not only intersection but also union operations was proposed and a mathematical solution to it was developed. Simulation results in 3D space have been presented to show its merits. non-linear programming, obstacle avoidance, robotics, semi-infinite constrained optimization.

AB - This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work and converts the real-time obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of a delicate mathematical transformation, which leads to an efficient real-time robotics' path planning approach. Motivated by the practical requirements of obstacle representation, a generalized semi-infinite optimization problem (GSOP) with not only intersection but also union operations was proposed and a mathematical solution to it was developed. Simulation results in 3D space have been presented to show its merits. non-linear programming, obstacle avoidance, robotics, semi-infinite constrained optimization.

UR - http://www.scopus.com/inward/record.url?scp=11244312117&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=11244312117&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:11244312117

SN - 0780386469

SN - 9780780386464

T3 - 2004 IEEE Conference on Robotics, Automation and Mechatronics

SP - 768

EP - 773

BT - 2004 IEEE Conference on Robotics, Automation and Mechatronics

T2 - 2004 IEEE Conference on Robotics, Automation and Mechatronics

Y2 - 1 December 2004 through 3 December 2004

ER -

A robot path planning approach based on generalized semi-infinite optimization

Abstract

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ASJC Scopus subject areas

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