TY - GEN
T1 - Multi-objective path planning in GPS denied environments under localization constraints
AU - Bopardikar, Shaunak D.
AU - Englot, Brendan
AU - Speranzon, Alberto
PY - 2014
Y1 - 2014
N2 - The main contribution of this paper is a novel planning algorithm that, starting from a probabilistic roadmap, efficiently constructs an expanded graph used to search for the optimal solution of a multi-objective problem. The primary cost is the shortest path from start to goal and the secondary cost is related to the state estimation error covariance. This needs to be optimized as we assume the navigation to be in a GPS denied environment. The proposed algorithm is efficient as it relies on a scalar metric, related to the largest eigenvalue of the error covariance, and adaptively quantizes the secondary cost, yielding a graph whose number of vertices and edges provides a good tradeoff between optimality and computational complexity. Numerical examples show the advantage of the proposed approach compared to methods where the expanded graph is built by quantizing the secondary cost uniformly.
AB - The main contribution of this paper is a novel planning algorithm that, starting from a probabilistic roadmap, efficiently constructs an expanded graph used to search for the optimal solution of a multi-objective problem. The primary cost is the shortest path from start to goal and the secondary cost is related to the state estimation error covariance. This needs to be optimized as we assume the navigation to be in a GPS denied environment. The proposed algorithm is efficient as it relies on a scalar metric, related to the largest eigenvalue of the error covariance, and adaptively quantizes the secondary cost, yielding a graph whose number of vertices and edges provides a good tradeoff between optimality and computational complexity. Numerical examples show the advantage of the proposed approach compared to methods where the expanded graph is built by quantizing the secondary cost uniformly.
KW - Autonomous Systems
KW - GPS-denied Localization
KW - Motion Planning
KW - Multi-objective Optimization
UR - http://www.scopus.com/inward/record.url?scp=84905694106&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84905694106&partnerID=8YFLogxK
U2 - 10.1109/ACC.2014.6858731
DO - 10.1109/ACC.2014.6858731
M3 - Conference contribution
AN - SCOPUS:84905694106
SN - 9781479932726
T3 - Proceedings of the American Control Conference
SP - 1872
EP - 1879
BT - 2014 American Control Conference, ACC 2014
T2 - 2014 American Control Conference, ACC 2014
Y2 - 4 June 2014 through 6 June 2014
ER -