- Autor(i):
- M. Klaučo – S. Blažek – M. Kvasnica – M. Fikar
- Názov:
- Mixed-Integer SOCP Formulation of the Path Planning Problem for Heterogeneous Multi-Vehicle Systems

Celočíselná SOCP formulácia plánovania trasy pre heterogénne vozidlo - Názov knihy:
- European Control Conference 2014
- Rok:
- 2014
- Strany:
- 1474–1479
- Adresa:
- Strasbourg, France
- Jazyk:
- angličtina
- Anotácia:
- We consider the path planning problem for heterogeneous multi-vehicle systems. In such a setup an agile vehicle, which can move quickly but has limited operating range, is carried by a carrier vehicle that moves slowly but has large range. The objective is to devise an optimal path for the multivehicle system such that all desired points are visited as quickly as possible, while respecting all physical constraints. We show how to translate the mixed-integer nonlinear formulation of such a problem into a mixed-integer second-order cone problem that can be solved much more efficiently. The translation process employs basic concepts of propositional logic and is not conservative. Efficacy of the proposed formulation is demonstrated on a large case study.
- ISBN:
- 978-3-9524269-2-0
- Kategória publikácie:
- AFC – Publikované príspevky na zahraničných vedeckých konferenciách
- Oddelenie:
- OIaRP
- Vložil/Upravil:
- doc. Ing. MSc. Martin Klaučo, PhD.
- Posledná úprava:
- 27.6.2014 14:44:29
- Plný text:
- 1499.pdf (185.66 kB)
- BibTeX:
- @inproceedings{uiam1499,
author = {M. Klau\v{c}o and S. Bla\v{z}ek and M. Kvasnica and M. Fikar}, title = {Mixed-Integer SOCP Formulation of the Path Planning Problem for Heterogeneous Multi-Vehicle Systems}, booktitle = {European Control Conference 2014}, year = {2014}, pages = {1474-1479}, address = {Strasbourg, France}, annote = {We consider the path planning problem for heterogeneous multi-vehicle systems. In such a setup an agile vehicle, which can move quickly but has limited operating range, is carried by a carrier vehicle that moves slowly but has large range. The objective is to devise an optimal path for the multivehicle system such that all desired points are visited as quickly as possible, while respecting all physical constraints. We show how to translate the mixed-integer nonlinear formulation of such a problem into a mixed-integer second-order cone problem that can be solved much more efficiently. The translation process employs basic concepts of propositional logic and is not conservative. Efficacy of the proposed formulation is demonstrated on a large case study.}, url = {https://www.uiam.sk/assets/publication_info.php?id_pub=1499}