A robot path planning approach based on generalized semi-infinite optimization
Han Liu, Qianying Tan, Yongji Wang · 2005
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.