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This content will become publicly available on September 3, 2023

Title: Method of evolving junction on optimal path planning in flows fields
We propose an algorithm using method of evolving junctions to solve the optimal path planning problems with piece-wise constant flow fields. In such flow fields, we prove that the optimal trajectories, with respect to a convex Lagrangian in the objective function, must be formed by piece-wise constant velocity motions. Taking advantage of this property, we transform the infinite dimensional optimal control problem into a finite dimensional optimization and use intermittent diffusion to solve the problems. The algorithm is proven to be complete. At last, we demonstrate the performance of the algorithm with various simulation examples.
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Award ID(s):
1934836 1849228 1828678
Publication Date:
Journal Name:
Autonomous Robots
Sponsoring Org:
National Science Foundation
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