From Obstacle-Based Space Partitioning to Corridors and Path Planning. A Convex Lifting Approach

Daniel Ioan (1) , Sorin Olaru (1) , Ionela Prodan (2) , Florin Stoican (3) , Silviu-Iulian Niculescu (4)

1 L2S - Laboratoire des signaux et systèmes
2 LCIS - Laboratoire de Conception et d'Intégration des Systèmes
3 Department of Automatic Control and Systems Engineering [Bucharest]
4 DISCO - Dynamical Interconnected Systems in COmplex Environments

This letter proposes a novel methodology for path generation in known and congested multi-obstacle environments. Our aim is to solve an open problem in navigation within such environments the feasible space partitioning in accordance with the distribution of obstacles. It is shown that such a partitioning is a key concept toward the generation of a corridor in cluttered environments. Once a corridor between an initial and a final position is generated, the selection of a path is considerably simplified in comparison with the methods which explore the original non-convex feasible regions of the environment. The core of the methodology presented here is the construction of a convex lifting which boils down to a convex optimization. This letter covers both the mathematical foundations and the computational details of the implementation and aims to illustrate the concepts with geometrical examples

Keywords: Constrained control; Linear systems; Optimization

Domains: Computer Science [cs]; Automatic Control Engineering

Daniel Ioan, Sorin Olaru, Ionela Prodan, Florin Stoican, Silviu-Iulian Niculescu. From Obstacle-Based Space Partitioning to Corridors and Path Planning. A Convex Lifting Approach. IEEE Control Systems Letters, 2020, 4 (1), pp.79-84. ⟨10.1109/LCSYS.2019.2922414⟩. ⟨hal-02328848⟩