Comparison of branching strategies for path-planning with avoidance using nonlinear branch-and-bound

AIAA Guidance, Navigation and Control Conference and Exhibit

Volumn , Issue , 2008, Pages

  Eele, Alison ^a   Richards, Arthur ^a  

^a UNIVERSITY OF BRISTOL   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINED OPTIMIZATION; FORESTRY; INTEGER PROGRAMMING; MOTION PLANNING;

BRANCH-AND-BOUND APPROACHES; MIXED-INTEGER LINEAR PROGRAMMING; NON-LINEAR DYNAMICS MODEL; OPTIMAL SOLUTIONS; OPTIMAL TRAJECTORIES; OPTIMISATION METHOD; PATH PLANNING PROBLEMS; STRATEGY CHOICES;

BRANCH AND BOUND METHOD;

EID: 78651099828     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.2514/6.2008-6463     Document Type: Conference Paper

References (29)

1. Eele, A. and Richards, A., "Path-Planning with Avoidance using Nonlinear Branch-and-Bound Optimisation," AIAA Guidance, Navigation and Control Conference and Exhibit, 2007.
2. Barraquand, J., Kavraki, L., Latombe, J.-C., Motwani, R., and Raghavan, P., "A Random Sampling Scheme for Path Planning," International Journal of Robotics Research, Vol. Vol. 16 No. 6, 1997, pp. 759-774.
3. Lee, Y. I. and Kouvaritakis, B., "Constrained Receding Horizon Predictive Control for Systems with Disturbances," International Journal of Control, Vol. Vol 72 No 11, 1999, pp. 1027-1032.
4. Frazzoli, E., Dahleh, M., and Feron, E., "Real-Time Motion Planning for Agile Autonomous Vehicles," Proceedings of AIAA GNC, 2000, p. xx.
5. Bortoff, S. A., "Path-Planning for UAVs," Proceedings of American Control Conference, 2000, p. 364.
6. Chandler, P. R., Pachter, M., and Rasmussen, S., "UAV Cooperative Control," Proceedings of American Control Conference, 2001.
7. Bellingham, J. S., Richards, A. G., and How, J. P., "Receding Horizon Control of Autonomous Vehicles," Proceedings of the American Control Conference, 2002.
8. Richards, A. G., Schouwenaars, T., How, J. P., and Feron, E., "Spacecraft Trajectory Planning with Avoidance Constraints Using Mixed-Integer Linear Programming," AIAA Journal of Guidance Control and Dynamics, Vol. 25(4), July-August 2002, pp. 755-764.
9. ILOG CPLEX Website, http://www.ilog.com/products/cplex/, visited July 2005.
10. Bertsimas, D. and Tsitsiklis, J. N., Introduction to Linear Optimization, Athena Scientific, 1997.
11. Dakin, R. J., "A tree-search algorithm for mixed integer programming problems," the Computer Journal, Vol. 8 no. 3, 1965, pp. 250-255.
12. Hartley, R., Linear and Nonlinear Programming, Ellis Horwood, 1985.
13. Geoffrion, A. M., "Integer Programming by Implicit Enumeration and Balas Method," SIAM Review, Vol. 9, 1967, pp. 178-190.
14. Golomb, S. W. and Baumert, L. D., "Backtrack Programming," J. ACM, Vol. 12, No. 4, 1965, pp. 516-524.
15. Glover, F., "A Multiphase-Dual Algorithm for the Zero-One Integer Programming Problem," Operations Research, Vol. 13, 1965, pp. 879-919.
16. Balas, E., "Discrete Programming by the Filter Method," Operations Research, Vol. 15, 1967, pp. 915957.
17. Lawler, E. L. and Wood, D. E., "Branch-And-Bound Methods:A Survey," Operations Research, Vol. 14, No. 4, 1966, pp. 699-719.
18. Nilsson, N. J., Problem-Solving Methods in Artificial Intelligence, McGraw Publishing, 1971.
19. Ibaraki, T., "Theoretical comparisons of search strategies in branch-and-bound algorithms," International Journal of Parallel Programming, Vol. 5, No. 4, 1976, pp. 315-344.
20. Benichou, M., Gauthier, J. M., Girodet, P., Hentges, G., Ribiere, G., and Vincent, O., "Experiments in Mixed-Integer Linear Programming," Mathematical Programming, Vol. 1, No. 1, 1971, pp. 76-94.
21. Gupta, O. K. and Ravindan, A., "Branch and Bound Experiments in Convex Nonlinear Integer Programming," Management Science, Vol. 31, No. 12, December 1985, pp. 1533-1546.
22. Kindt, V. T., Croce, F. D., and Esswein, C., "Revisiting Branch and Bound Search Strategies for Machine Scheduling Problems," Journal of Scheduling, Vol. 7, 2004, pp. 429-440.
23. Dubins, L. E., "On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents," American Journal of Mathematics, Vol. Vol 79 No 3, 1957 1957, pp. 497-516.
24. Glover, F. and Tangedahl, L., "Dynamic Strategies for Branch and Bound," OMEGA, Vol. 4, No. 5, 1976, pp. 571-576.
25. MATLAB Website, http://www.mathworks.com/products/matlab/, visited July 2005.
26. Wächter, A. W. and Biegler, L. T., "On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming," Mathematical Programming, Vol. 106 No. 1, 2006, pp. 25-27.
27. Wächter, A. W., Interior Point Methods for Large-Scale Nonlinear Programming with Applications in Process Systems Engineering, Ph.D. thesis, Carnegie Mellon University, Pittsburgh, PA, USA, 2002.
28. AMPL Website, http://www.ampl.com/, visited July 2005.
29. Richards, A. G. and How, J. P., "Aircraft Trajectory Planning with Collision Avoidance using Mixed Integer Linear Programming," Proceedings of American Control Conference, 2002.