Globally Optimal Path Planning with Anisotropic Running Costs
DEFENCE SCIENCE AND TECHNOLOGY ORGANISATION VICTORIA (AUSTRALIA) AIR OPERATIONS DIV
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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.
- Operations Research