Time-optimal multi-stage motion planning with guaranteed collision avoidance via an open-loop game formulation

Abstract

We present an efficient algorithm which computes, for a kinematic point mass moving in the plane, a time-optimal path that visits a sequence of target sets while conservatively avoiding collision with moving obstacles, also modelled as kinematic point masses, but whose trajectories are unknown. The problem is formulated as a pursuit-evasion differential game, and the underlying construction is based on optimal control. The algorithm, which is a variant of the fast marching method for shortest path problems, can handle general dynamical constraints on the players and arbitrary domain geometry (e.g. obstacles, non-polygonal boundaries). Applications to a two-stage game, capture-the-flag, is presented.

DOI: 10.1109/ICRA.2012.6225074

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Cite this paper

@article{Takei2012TimeoptimalMM, title={Time-optimal multi-stage motion planning with guaranteed collision avoidance via an open-loop game formulation}, author={Ryo Takei and Haomiao Huang and Jerry Ding and Claire J. Tomlin}, journal={2012 IEEE International Conference on Robotics and Automation}, year={2012}, pages={323-329} }