TY - GEN
T1 - On the general characteristics of 2D optimal obstacle-field guidance solution
AU - Kong, Zhaodan
AU - Mettler May, Berenice F
PY - 2009
Y1 - 2009
N2 - This paper presents a computational framework of partitioning a dynamical system's free space in a way such that global optimality can be guaranteed by composing control policies over a local region. Unlike traditional triangulation methods, the partition method in this paper takes into account the topological layout, as well as the vehicle dynamics. With this framework, we show that spatial, dynamic behavior governed by optimality has an underlying structure, which reflect the spatio-dynamic dependency. This structure provides a basis for abstraction which is useful for the type of high level planning and reasoning that is needed for autonomous vehicle guidance. In this paper we focuses on a Dubins' vehicle motion model. Such a model is adequate for aircraft operating at a constant speed. Although restrictive, the insights and conclusions about this kind of vehicle can serve as basis for investigating more general systems.
AB - This paper presents a computational framework of partitioning a dynamical system's free space in a way such that global optimality can be guaranteed by composing control policies over a local region. Unlike traditional triangulation methods, the partition method in this paper takes into account the topological layout, as well as the vehicle dynamics. With this framework, we show that spatial, dynamic behavior governed by optimality has an underlying structure, which reflect the spatio-dynamic dependency. This structure provides a basis for abstraction which is useful for the type of high level planning and reasoning that is needed for autonomous vehicle guidance. In this paper we focuses on a Dubins' vehicle motion model. Such a model is adequate for aircraft operating at a constant speed. Although restrictive, the insights and conclusions about this kind of vehicle can serve as basis for investigating more general systems.
UR - http://www.scopus.com/inward/record.url?scp=77950853293&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77950853293&partnerID=8YFLogxK
U2 - 10.1109/CDC.2009.5400828
DO - 10.1109/CDC.2009.5400828
M3 - Conference contribution
AN - SCOPUS:77950853293
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3448
EP - 3453
BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Y2 - 15 December 2009 through 18 December 2009
ER -