Title :
Fast marching for hybrid control
Author :
Branicky, Michael S. ; Hebbar, Ravi
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
This paper describes an approach to solving optimal hybrid control problems using level set methods. Level set methods are a powerful set of techniques for generating equipotential contours with applications in the realm of fluid mechanics, computer vision, material science, robotics and geometry. This paper specifically deals with the problem of determining an optimal control path in a hybrid system by extending a particular level set algorithm, known as the “fast marching” method, to a hybrid setting. Several representative examples are solved
Keywords :
continuous time systems; discrete time systems; optimal control; path planning; computer vision; equipotential contours; fast marching method; fluid mechanics; geometry; hybrid control; level set algorithm; material science; optimal control; robotics; Application software; Computer science; Computer vision; Differential equations; Ice; Level set; Materials science and technology; Optimal control; Power generation; Robot vision systems;
Conference_Titel :
Computer Aided Control System Design, 1999. Proceedings of the 1999 IEEE International Symposium on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5500-8
DOI :
10.1109/CACSD.1999.808633
