NDLI: A probabilistic approach to optimal robust path planning with obstacles

Content Provider	IEEE Xplore Digital Library
Author	Blackmore, L. Hui Li Williams, B.
Copyright Year	2006
Description	Author affiliation: Massachusetts Inst. of Technol. (Blackmore, L.; Hui Li; Williams, B.)
Abstract	Autonomous vehicles need to plan trajectories to a specified goal that avoid obstacles. Previous approaches that used a constrained optimization approach to solve for finite sequences of optimal control inputs have been highly effective. For robust execution, it is essential to take into account the inherent uncertainty in the problem, which arises due to uncertain localization, modeling errors, and disturbances. Prior work has handled the case of deterministically bounded uncertainty. We present here an alternative approach that uses a probabilistic representation of uncertainty, and plans the future probabilistic distribution of the vehicle state so that the probability of collision with obstacles is below a specified threshold. This approach has two main advantages; first, uncertainty is often modeled more naturally using a probabilistic representation (for example in the case of uncertain localization); second, by specifying the probability of successful execution, the desired level of conservatism in the plan can be specified in a meaningful manner. The key idea behind the approach is that the probabilistic obstacle avoidance problem can be expressed as a disjunctive linear program using linear chance constraints. The resulting disjunctive linear program has the same complexity as that corresponding to the deterministic path planning problem with no representation of uncertainty. Hence the resulting problem can be solved using existing, efficient techniques, such that planning with uncertainty requires minimal additional computation. Finally, we present an empirical validation of the new method with a number of aircraft obstacle avoidance scenarios
Sponsorship	American Automatic Control Council IFAC
File Size	332097
File Format	PDF
ISBN	1424402093
e-ISBN	1424402107
DOI	10.1109/ACC.2006.1656653
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robustness Path planning Uncertainty Aircraft Trajectory Unmanned aerial vehicles Linear programming Remotely operated vehicles Mobile robots Constraint optimization
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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