Constrained optimization with stochastic feasibility regions applied to vehicle path planning

DOI10.1007/S10898-015-0353-9zbMATH Open1345.90084arXiv1309.5999OpenAlexW1635848848MaRDI QIDQ280102FDOQ280102

Ronaldo Dias, Julian A. A. Collazos, Adriano Z. Zambom

Publication date: 29 April 2016

Published in: Journal of Global Optimization (Search for Journal in Brave)

Abstract: In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the sensors have measurement errors, the stochasticity of the data has to be incorporated into the models. In this paper, we consider using a genetic algorithm for the constrained optimization problem of finding the trajectory with minimum length between two locations, avoiding the obstacles on the way. To incorporate the variability of the sensor readings, we propose a more general framework, where the feasible regions of the genetic algorithm are stochastic. In this way, the probability that a possible solution of the search space, say x, is feasible can be derived from the random observations of obstacles and pathways, creating a real-time data learning algorithm. By building a confidence region from the observed data such that its border intersects with the solution point x, the level of the confidence region defines the probability that x is feasible. We propose using a smooth penalty function based on the Gaussian distribution, facilitating the borders of the feasible regions to be reached by the algorithm.

Full work available at URL: https://arxiv.org/abs/1309.5999

zbMATH Keywords

constrained optimizationpenalty functionnonparametric curve estimationautonomous vehiclestochastic feasible regions

Mathematics Subject Classification ID

Applications of mathematical programming (90C90) Nonlinear programming (90C30) Stochastic programming (90C15)

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Cited In (2)

• Approximate convex hull based scenario truncation for chance constrained trajectory optimization
• Vehicle path planning by using adaptive constrained distance transformation

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