TY - GEN
T1 - Optimal obstacle avoidance based on the Hamilton-Jacobi-Bellman equation
AU - Sundar, S.
AU - Shiller, Z.
PY - 1994
Y1 - 1994
N2 - This paper presents a method for generating shortest paths in cluttered environments, based on the Hamilton-Jacobi-Bellman (HJB) equation. Formulating the shortest obstacle avoidance problem as a time optimal control problem, the shortest paths are generated by following the negative gradient of the return function, which satisfies the HJB equation. A method to generate near-optimal paths is also presented, based on a pseudo return function. Paths generated by this method are guaranteed to reach the goal, at which the pseudo return function is shown to have a unique minimum. The computation required to generate the nearoptimal paths is substantially lower than those of traditional potential field methods, making it applicable to on-line obstacle avoidance. Examples with circular obstacles demonstrate close correlation between the near-optimal and optimal paths, and the advantages of the proposed approach over traditional potential field methods.
AB - This paper presents a method for generating shortest paths in cluttered environments, based on the Hamilton-Jacobi-Bellman (HJB) equation. Formulating the shortest obstacle avoidance problem as a time optimal control problem, the shortest paths are generated by following the negative gradient of the return function, which satisfies the HJB equation. A method to generate near-optimal paths is also presented, based on a pseudo return function. Paths generated by this method are guaranteed to reach the goal, at which the pseudo return function is shown to have a unique minimum. The computation required to generate the nearoptimal paths is substantially lower than those of traditional potential field methods, making it applicable to on-line obstacle avoidance. Examples with circular obstacles demonstrate close correlation between the near-optimal and optimal paths, and the advantages of the proposed approach over traditional potential field methods.
UR - http://www.scopus.com/inward/record.url?scp=0028595155&partnerID=8YFLogxK
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AN - SCOPUS:0028595155
SN - 0818653329
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - Var pagings
BT - Proceedings - IEEE International Conference on Robotics and Automation
A2 - Anon, null
T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4)
Y2 - 8 May 1994 through 13 May 1994
ER -