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Conference papers
Parametrized hyperplane arrangements for control design with collision avoidance constraints
Abstract : This paper concerns the problem of collision avoidance in a dynamical multi-obstacle environment. The design problem is commonly stated in the literature in terms of a receding-horizon constrained optimization problem over a non-convex domain. Preliminary results based on hyper-plane arrangements lead to a mixed-integer formulation of the problem. This formalism is adequate for a static multi-obstacle environment, but may be impractical in a dynamical context. Nevertheless, this shortcoming can be alleviated by considering an additional analysis step and by an appropriate proper choice of the representation of the environment in a time-varying framework. The present paper tackles this issue by using zonotopes and discussing their parametrization in a collision avoidance type of application.
Cited literature [21 references]
https://hal-centralesupelec.archives-ouvertes.fr/hal-02329329
Contributor : Delphine Le Piolet Connect in order to contact the contributor
Submitted on : Friday, April 10, 2020 - 11:33:26 AM
Last modification on : Wednesday, November 17, 2021 - 4:55:28 PM
Contributor : Delphine Le Piolet Connect in order to contact the contributor
Submitted on : Friday, April 10, 2020 - 11:33:26 AM
Last modification on : Wednesday, November 17, 2021 - 4:55:28 PM
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ICCA_2019.pdf
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