Title :
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
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;
Conference_Titel :
Neural Networks, 2008. IJCNN 2008. (IEEE World Congress on Computational Intelligence). IEEE International Joint Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4244-1820-6
Electronic_ISBN :
1098-7576
DOI :
10.1109/IJCNN.2008.4633775
