This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to optimal path planning problems in unstructured environments. The approach is motivated by showing that a lattice-based planner can be cast and analyzed as a bilevel optimization problem. This insight is used to integrate a lattice-based planner and an optimal control-based method in a novel way. The lattice-based planner is applied to the problem in a first step using a discretized search space. In a second step, an optimal control-based method is applied using the lattice-based solution as an initial iterate. In contrast to prior work, the system dynamics and objective function used in the first step are chosen to coincide with those used in the second step. As an important consequence, the lattice planner provides a solution which is highly suitable as a warm-start to the optimal control step. This proposed combination makes, in a structured way, benefit of sampling-based methods ability to solve combinatorial parts of the problem and optimal control-based methods ability to obtain locally optimal solutions. Compared to previous work, the proposed approach is shown in simulations to provide significant improvements in terms of computation time, numerical reliability and objective function value.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Improved Path Planning by Tightly Combining Lattice-Based Path Planning and Optimal Control


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2021-03-01


    Format / Umfang :

    1348203 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Improved Path Planning by Tightly Combining Lattice-Based Path Planning and Optimal Control

    Bergman, Kristoffer / Ljungqvist, Oskar / Axehill, Daniel | BASE | 2021

    Freier Zugriff

    PATH PLANNING DEVICE, PATH PLANNING METHOD, AND PATH PLANNING PROGRAM

    KAWAKITA KOJI | Europäisches Patentamt | 2021

    Freier Zugriff

    Navigation Based Path Planning by Optimal Control Theory

    Nolan, Sean M. / Grant, Michael J. / Rutkowski, Adam | AIAA | 2020


    NAVIGATION BASED PATH PLANNING BY OPTIMAL CONTROL THEORY

    Nolan, Sean M. / Grant, Michael J. / Rutkowski, Adam | TIBKAT | 2020


    Path Planning Control

    M. Mcroberts | NTIS | 1990