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.

Report Date:

2013-03-01

Pagination or Media Count:

57.0

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