Local minimizers for variational obstacle avoidance on Riemannian manifolds

DOI10.3934/JGM.2023003MaRDI QIDQ6160670zbMATH OpenOpenAlexFDO

Authors Jacob Goodman

Publication date 26 June 2023

Published in Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2201.04395

zbMATH Keywords

local minimizersRiemannian geometrypath planningobstacle avoidancebi-Jacobi fieldsbiconjugate points

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Local Riemannian geometry (53B20) Applications of differential geometry to engineering (53Z30)

Abstract: This paper studies a variational obstacle avoidance problem on complete Riemannian manifolds. That is, we minimize an action functional, among a set of admissible curves, which depends on an artificial potential function used to avoid obstacles. In particular, we generalize the theory of bi-Jacobi fields and biconjugate points and present necessary and sufficient conditions for optimality. Local minimizers of the action functional are divided into two categories and subsequently classified, with local uniqueness results obtained in both cases.

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Cited in

(4)

• Variational point-obstacle avoidance on Riemannian manifolds
• Reduction by Symmetry in Obstacle Avoidance Problems on Riemannian Manifolds
• Dynamic interpolation for obstacle avoidance on Riemannian manifolds
• Existence of global minimizer for elastic variational obstacle avoidance problems on Riemannian manifolds

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