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UID:0-468@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20161010T163000

DTEND;TZID=Asia/Jerusalem:20161010T173000

DTSTAMP:20230603T191207Z

URL:https://aerospace.technion.ac.il/events/optimal-pursuit-with-rapidly-e
 xploring-random-trees/

SUMMARY:Optimal Pursuit with Rapidly Exploring Random Trees
DESCRIPTION:Lecturer:Vladimir Tchuiev\n Faculty:Department of Aerospace Eng
 ineering\n Institute:Technion – Israel Institute of Technology\n Locatio
 n:Classroom 165\, ground floor\, Library\, Aerospace Eng.\n Zoom: \n Abstr
 act: \n Details: \n The research addresses the problem of guiding a consta
 nt speed vehicle to a stationary target while enforcing a terminal heading
  constraint. A path that minimizes control effort and avoids obstacles sca
 ttered in the 2D environment is sought. A variation of the rapidly explori
 ng random tree (RRT) algorithm that is probabilistic complete and is guara
 nteed to asymptotically converge to the optimal solution is utilized.\nThe
  talk will begin with an overview on incremental sampling-based RRT algori
 thms. Then\, the problem at hand will be presented along with the solution
  approach consisting of two parts: with and without obstacles. The propose
 d connection methodology between two points sampled by the algorithm\, usi
 ng a linearization based closed-form guidance solution\, will then be disc
 ussed. Presentation of methods to reduce computational effort using newly 
 introduced lower bounds for the cost of feasible paths will follow. Analys
 is of simulation results and some discussion will conclude the talk.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng.

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DTSTART:20160325T030000

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