Globally Optimal Path Planning with Anisotropic Running Costs
Jason R. Looker · 2013
There are many diverse numerical methods that can be applied to solving path planning problems, however most of these are either not valid or impractical for solving anisotropic (direction-dependent) path planning problems. Ordered Upwind Methods (OUM) are a family of numerical methods for approximating the viscosity solution of static Hamilton-Jacobi-Bellman equations, and have been tailored to solve anisotropic optimal control problems. There is little information in the literature regarding the implementation of OUM, and a wide range of computational techniques and meticulous algorith-mic considerations are required to successfully implement OUM. A comprehen-sive, generic implementation of OUM is documented in this report, with the intention of minimising the technical barriers to employing OUM in real-world applications.