Online Approximate Optimal Path-Planner in the Presence of Mobile Avoidance Regions
Patryk Deptula, Ryan A. Licitra, Joel A. Rosenfeld, Warren E. Dixon · 2018
An infinite-horizon optimal regulation problem is considered for a control-affine nonlinear autonomous agent subject to input constraints in the presence of dynamic avoidance regions. A local model-based approximate dynamic programming method is implemented to approximate the value function in a local neighborhood of the agent. By performing local approximations, prior knowledge of the locations of avoidance regions is not required. The developed feedback-based path-planning strategy guarantees uniform ultimate bounded convergence of the approximated control policy to the optimal policy while also ensuring that the agent remains outside of the avoidance regions.