安全ボックス群を高速に通過する経路計画
Fast Path Planning Through Large Collections of Safe Boxes
多数の軸並行な安全領域（ボックス）内に収まる滑らかな経路を高速に生成するアルゴリズムを提案し、大規模数値例で有効性を示した。
著者: Tobia Marcucci, Parth Nobel, Russ Tedrake, Stephen Boyd
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of them (such as finding their intersections) can be done offline. At runtime we quickly generate a smooth path between given initial and terminal positions. Our algorithm designs trajectories that are guaranteed to be safe at all times, and detects infeasibility whenever such a trajectory does not exist. Our algorithm is based on two subproblems that we can solve very efficiently: finding a shortest path in a weighted graph, and solving (multiple) convex optimal-control problems. We demonstrate the proposed path planner on large-scale numerical examples, and we provide an efficient open-source software implementation, fastpathplanning.
