Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
An Iterative Mixed Integer Linear Programming Approach to Pursuit Evasion Problems in Polygonal Environments
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.ORCID-id: 0000-0002-7714-928X
2010 (Engelska)Ingår i: 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)  / [ed] Rakotondrabe M; Ivan IA, 2010, s. 5498-5503Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this paper, we address the multi pursuer version of the pursuit evasion problem in polygonal environments. It is well known that this problem is NP-hard, and therefore we seek efficient, but not optimal, solutions by relaxing the problem and applying the tools of Mixed Integer Linear Programming (MILP) and Receding Horizon Control (RHC). Approaches using MILP and RHC are known to produce efficient algorithms in other path planning domains, such as obstacle avoidance. Here we show how the MILP formalism can be used in a pursuit evasion setting to capture the motion of the pursuers as well as the partitioning of the pursuit search region into a cleared and a contaminated part. RHC is furthermore a well known way of balancing performance and computation requirements by iteratively solving path planning problems over a receding planning horizon, and adapt the length of that horizon to the computational resources available. The proposed approach is implemented in Matlab/Cplex and illustrated by a number of solved examples.

Ort, förlag, år, upplaga, sidor
2010. s. 5498-5503
Serie
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Nationell ämneskategori
Elektroteknik och elektronik
Identifikatorer
URN: urn:nbn:se:kth:diva-27696ISI: 000284150002021Scopus ID: 2-s2.0-77955777875ISBN: 978-1-4244-5040-4 (tryckt)OAI: oai:DiVA.org:kth-27696DiVA, id: diva2:381162
Konferens
IEEE International Conference on Robotics and Automation (ICRA) Anchorage, AK, MAY 03-08, 2010
Anmärkning
QC 20101223Tillgänglig från: 2010-12-23 Skapad: 2010-12-20 Senast uppdaterad: 2010-12-23Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Scopus

Sök vidare i DiVA

Av författaren/redaktören
Thunberg, JohanÖgren, Petter
Av organisationen
Optimeringslära och systemteori
Elektroteknik och elektronik

Sök vidare utanför DiVA

GoogleGoogle Scholar

isbn
urn-nbn

Altmetricpoäng

isbn
urn-nbn
Totalt: 66 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf