Method of evolving junctions: A new approach to optimal path-planning in 2D environments with moving obstacles

摘要

We propose a novel algorithm to find the global optimal path in 2D environments with moving obstacles, where the optimal-ity is understood relative to a general convex continuous running cost. By leveraging the geometric structures of optimal solutions and using gradient flows, we convert the path-planning problem into a system of finite dimensional ordinary differential equations, whose dimensions change dynamically. Then a stochastic differential equation based optimization method, called intermittent diffusion, is employed to obtain the global optimal solution. We demonstrate, via numerical examples, that the new algorithm can solve the problem efficiently.