dc.contributor.advisor | | |
dc.contributor.author | Stoican, Florin | |
dc.contributor.author | Grøtli, Esten Ingar | |
dc.contributor.author | Prodan, Ionela | |
dc.contributor.author | Oara, Cristian | |
dc.date.accessioned | 2016-01-27T10:46:16Z | |
dc.date.accessioned | 2016-02-10T10:21:27Z | |
dc.date.available | 2016-01-27T10:46:16Z | |
dc.date.available | 2016-02-10T10:21:27Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | IFAC-PapersOnLine 2015, 48(23):185-190 | |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | http://hdl.handle.net/11250/2378719 | |
dc.description | | nb_NO |
dc.description.abstract | One challenging and not extensively studied issue in obstacle avoidance is the corner cutting problem. Avoidance constraints are usually imposed at the sampling time without regards to the intra-sample behavior of the dynamics. This paper improves upon state of the art by describing a multi-obstacle environment over a hyperplane arrangement scaffolding, provides a piecewise description of the "shadow" regions and represents them into a combined mixed integer and predictive control formulation. Furthermore, over-approximation constraints which reduce to strictly binary formulations are discussed in detail. Illustrative proofs of concept, comparisons with the state of the art and simulation results over a classical multi-obstacle avoidance problem validate the benefits of the proposed approach. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.relation.uri | http://www.sciencedirect.com/science/article/pii/S2405896315025653 | |
dc.title | On corner cutting in multi-obstacle avoidance problems | nb_NO |
dc.type | Journal article | nb_NO |
dc.date.updated | 2016-01-27T10:46:16Z | |
dc.identifier.doi | 10.1016/j.ifacol.2015.11.281 | |
dc.identifier.cristin | 1323638 | |