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Two novel approaches for unmanned underwater vehicle path planning: constrained optimisation and semi-infinite constrained optimisation

机译:无人水下航行器路径规划的两种新颖方法:约束优化和半无限约束优化

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摘要

In this paper, two novel approaches to unmanned under water vehicle path planning are presented. The main idea of the first approach, referred to as Constrained Optimisation (CO) is to represent the free space of the workspace as a set of inequality constraints using vehicle configuration varia- bles. The second approach converts robot path planning into a Semi-infinite Constrained Optimisation (SCO) problem. The function interpolation technique is adopted to satisfy the start and goal configuration requirements. Mathematical foundations for Constructive Solid Geometry (CSG), Boo- lean operations and approximation techniques are also presented to reduce the number of constraints, and to avoid local minima. The advantages of these approaches are that the mature techniques developed in optimisation theory which guarantee convergence, efficiency and numerical robustness can be directly applied to the robot path planning problem. Simulation results have been presented.
机译:在本文中,提出了两种新颖的水下车辆路径规划方法。第一种方法的主要思想(称为约束优化(CO))是使用车辆配置变量将工作空间的自由空间表示为一组不平等约束。第二种方法将机器人路径规划转换为半无限约束优化(SCO)问题。采用功能插值技术来满足起始和目标配置要求。还介绍了构造实体几何(CSG),Boolean操作和逼近技术的数学基础,以减少约束的数量并避免局部最小值。这些方法的优势在于,可以将优化理论中开发的可确保收敛性,效率和数值鲁棒性的成熟技术直接应用于机器人路径规划问题。仿真结果已经提出。

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