An Efficient Solution to Optimal Motion Planning With Provable Safety and Convergence
An innovative solution to the optimal motion planning problem is presented in this work. A novel parametrized actor structure is proposed, which guarantees safe and convergent navigation by construction. Concurrently, an efficient scheme for optimizing a mixed state and energy cost function is formu...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
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| Series: | IEEE Open Journal of Control Systems |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10473133/ |