静的流れ場における時間・エネルギー経路計画最適化のための半ラグランジュ手法
A Semi-Lagrangian Approach for Time and Energy Path Planning Optimization in Static Flow Fields
環境の流れ場と障害物などの幾何制約を考慮し、時間とエネルギーの両方を最適化する多目的最適制御問題として経路計画を定式化し、調和変換と半ラグランジュ法でパレート解を求める手法を提案した。
著者: Víctor C. da S. Campos, Armando A. Neto, Douglas G. Macharet
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Efficient path planning for autonomous mobile robots is a critical problem across numerous domains, where optimizing both time and energy consumption is paramount. This paper introduces a novel methodology that considers the dynamic influence of an environmental flow field and considers geometric constraints, including obstacles and forbidden zones, enriching the complexity of the planning problem. We formulate it as a multi-objective optimal control problem, propose a novel transformation called Harmonic Transformation, and apply a semi-Lagrangian scheme to solve it. The set of Pareto efficient solutions is obtained considering two distinct approaches: a deterministic method and an evolutionary-based one, both of which are designed to make use of the proposed Harmonic Transformation. Through an extensive analysis of these approaches, we demonstrate their efficacy in finding optimized paths.
