A Model for Optimal Human Navigation with Stochastic Effects
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Publication:5117979
DOI10.1137/19M1296537zbMATH Open1446.49023arXiv2005.03615OpenAlexW3048898899MaRDI QIDQ5117979FDOQ5117979
Stanley Osher, Christian Parkinson, Andrea L. Bertozzi, David Arnold
Publication date: 26 August 2020
Published in: SIAM Journal on Applied Mathematics (Search for Journal in Brave)
Abstract: We present a method for optimal path planning of human walking paths in mountainous terrain, using a control theoretic formulation and a Hamilton-Jacobi-Bellman equation. Previous models for human navigation were entirely deterministic, assuming perfect knowledge of the ambient elevation data and human walking velocity as a function of local slope of the terrain. Our model includes a stochastic component which can account for uncertainty in the problem, and thus includes a Hamilton-Jacobi-Bellman equation with viscosity. We discuss the model in the presence and absence of stochastic effects, and suggest numerical methods for simulating the model. We discuss two different notions of an optimal path when there is uncertainty in the problem. Finally, we compare the optimal paths suggested by the model at different levels of uncertainty, and observe that as the size of the uncertainty tends to zero (and thus the viscosity in the equation tends to zero), the optimal path tends toward the deterministic optimal path.
Full work available at URL: https://arxiv.org/abs/2005.03615
stochastic controloptimal path planningstochastic Hamilton-Jacobi-Bellman equationanisotropic control
Stochastic partial differential equations (aspects of stochastic analysis) (60H15) Hamilton-Jacobi equations (35F21) PDEs with randomness, stochastic partial differential equations (35R60) Viscosity solutions to Hamilton-Jacobi equations in optimal control and differential games (49L25)
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- Analytical models of spatial trajectories for solving navigation problems
- Random features for high-dimensional nonlocal mean-field games
- Modeling and computation of cost-constrained adaptive environmental management with discrete observation and intervention
- A model for navigational errors in complex environmental fields
- A COMPARISON OF SCORING METRICS FOR PREDICTING THE NEXT NAVIGATION STEP WITH MARKOV MODEL-BASED SYSTEMS
Uses Software
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