A solution of mixed integer linear programming for obstacle-avoided pursuit problem

Author

Yang, Liying ; Han, Jianda ; Wu, Chendong ; Nie, Yiyong

Author_Institution

State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang

fYear

2008

fDate

1-8 June 2008

Firstpage

110

Lastpage

116

Abstract

In this paper the path planning for obstacle-avoided pursuit problem (OAP) is studied. The OAP models based on the mixed integer linear programming (MILP) is presented. In the OAP models, the dynamic equation of mass point with linear damping is taken as the state equation of vehiclepsilas motion. Integer variables are used to describe the relative position of vehicle and obstacles. ldquoExpansible Target Sizerdquo is proposed to describe the pursuit process for target step-by-step. ldquoPursuit Directionrdquo of vehicle is defined. The Isometric Plane Method selected integer variables is used to solve MILP pursuit problem. How to select the integer variables of inner point is also given. Finally, simulations are given to show the efficiency of the method.

Keywords

collision avoidance; integer programming; linear programming; dynamic equation; isometric plane method; mixed integer linear programming solution; obstacle-avoided pursuit problem; path planning; state equation; vehicle motion; Content addressable storage; Convergence; Equations; Force control; Mixed integer linear programming; Optimal control; Path planning; Robotics and automation; Trajectory; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Networks, 2008. IJCNN 2008. (IEEE World Congress on Computational Intelligence). IEEE International Joint Conference on

Conference_Location

Hong Kong

ISSN

1098-7576

Print_ISBN

978-1-4244-1820-6

Electronic_ISBN

1098-7576

Type

conf

DOI

10.1109/IJCNN.2008.4633775

Filename

4633775