Accession Number : ADA582449


Title :   Globally Optimal Path Planning with Anisotropic Running Costs


Descriptive Note : Technical rept.


Corporate Author : DEFENCE SCIENCE AND TECHNOLOGY ORGANISATION VICTORIA (AUSTRALIA) AIR OPERATIONS DIV


Personal Author(s) : Looker, Jason R


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a582449.pdf


Report Date : Mar 2013


Pagination or Media Count : 57


Abstract : There are many diverse numerical methods that can be applied to solving path planning problems, however, most of these are either not valid or impractical for solving anisotropic (direction-dependent) path planning problems. Ordered Upwind Methods (OUM) are a family of numerical methods for approximating the viscosity solution of static Hamilton-Jacobi-Bellman equations, and have been tailored to solve anisotropic optimal control problems. There is little information in the literature regarding the implementation of OUM, and a wide range of computational techniques and meticulous algorithmic considerations are required to successfully implement OUM. A comprehensive, generic implementation of OUM is documented in this report, with the intention of minimizing the technical barriers to employing OUM in real-world applications.


Descriptors :   *ANISOTROPY , *COLLISION AVOIDANCE , *CONTROL THEORY , *OPTIMIZATION , *PATHS , *PLANNING , *PROBLEM SOLVING , ALGORITHMS , AUSTRALIA , DYNAMIC PROGRAMMING , LOW COSTS , MESH , ORIENTATION(DIRECTION) , POSITION(LOCATION) , TRAJECTORIES , VELOCITY , VISCOSITY


Subject Categories : Operations Research
      Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE