Optimal Motion Planning for Searching for Uncertain Targets
Loading...
Authors
Royset, Johannes O.
Walton, Claire L.
Gong, Qi
Kaminer, Isaac
Subjects
trajectory planning
autonomous vehicles
nonlinear control
numerical methods
autonomous vehicles
nonlinear control
numerical methods
Advisors
Date of Issue
2014-08
Date
August 2014
Publisher
IFAC
Language
Abstract
This paper explores the potential for applying newly available numerical methods in
optimal control to solve motion planning problems created by the search for targets with motion
uncertainty characterized by constant but unknown parameters. These recent developments
enable the e cient computation of numerical solutions for search problems with multiple
searchers, nonlinear dynamics, and a broad class of objectives. We demonstrate the e cacy
of these methods through implementing a multi-agent optimal search problem. We then derive
an expansion of the optimal search modeling framework which facilitates the consideration of
multi-agent searching problems with more general strategic objectives and utilize this expanded
framework to implement an example combat defense scenario.
Type
Conference Paper
Description
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
US O ffice of Naval Research grant N0001412WX21229
Funder
US Offi ce of Naval Research grant N0001412WX21229
Format
6 p.
Citation
C.L. Walton, Q. Gong, I. Kaminer, J.O. Royset, 2014, "Optimal Motion Planning for Searching for Uncertain Targets," Proceedings of the 19th World Congress of the International Federation of Automatic Control, Cape Town, South Africa.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.