DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ha, Jung-Su | ko |
dc.contributor.author | Choi, Han-Lim | ko |
dc.date.accessioned | 2023-10-11T10:00:28Z | - |
dc.date.available | 2023-10-11T10:00:28Z | - |
dc.date.created | 2023-10-11 | - |
dc.date.issued | 2016-05 | - |
dc.identifier.citation | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, pp.4605 - 4612 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10203/313206 | - |
dc.description.abstract | This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the stochastic optimal control problem that allows computation of the optimal solution through sampling and estimation process. As this sampling process often leads to a local minimum especially when the state space is highly non-convex due to the obstacle field, we present an efficient method to alleviate this issue by devising a proposed topological motion planning algorithm. Combined with a receding-horizon scheme in execution of the optimal control solution, the proposed method can generate a dynamically feasible and collision-free trajectory while reducing concern about local optima. Illustrative numerical examples are presented to demonstrate the applicability and validity of the proposed approach. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | A topology-guided path integral approach for stochastic optimal control | - |
dc.type | Conference | - |
dc.identifier.wosid | 000389516203139 | - |
dc.identifier.scopusid | 2-s2.0-84977584689 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 4605 | - |
dc.citation.endingpage | 4612 | - |
dc.citation.publicationname | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 | - |
dc.identifier.conferencecountry | SW | - |
dc.identifier.conferencelocation | Stockholm | - |
dc.identifier.doi | 10.1109/ICRA.2016.7487662 | - |
dc.contributor.localauthor | Choi, Han-Lim | - |
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