Mixed-integer SOCP formulation of the path planning problem for heterogeneous multi-vehicle systems.
Martin KlaucoSlavomir BlazekMichal KvasnicaMiroslav FikarPublished in: ECC (2014)
Keyphrases
- path planning
- mixed integer
- second order cone program
- autonomous vehicles
- mobile robot
- collision avoidance
- obstacle avoidance
- dynamic and uncertain environments
- lot sizing
- linear program
- dynamic environments
- path planning algorithm
- optimal solution
- robot path planning
- linear programming
- feasible solution
- valid inequalities
- motion planning
- convex hull
- optimal path
- mixed integer program
- random variables
- mathematical model
- complex systems
- continuous variables
- configuration space
- potential field
- probabilistic model
- evolutionary algorithm