Second-Order Convergent Collision-Constrained Optimization-Based Planner.
Chen LiangXifeng GaoKui WuZherong PanPublished in: CoRR (2023)
Keyphrases
- constrained optimization
- constraint handling
- higher order
- constrained optimization problems
- objective function
- penalty function
- inequality constraints
- augmented lagrangian
- collision avoidance
- unconstrained optimization
- closed form solutions
- evolutionary strategy
- lagrange multipliers
- penalty functions
- lagrange multiplier method
- interval analysis
- probabilistic model