Direct multiple shooting method for solving approximate shortest path problems
An, P. T.
Hai, N. N.
Hoai, T. V.
Hai, N. N.
Hoai, T. V.
We use the idea of the direct multiple shooting method (presented by Bock in Proceedings
of the 9th IFAC World Congress Budapest, Pergamon Press, 1984, for solving optimal control
problems) to introduce an algorithmfor solving some approximate shortest path problems
in motion planning. The algorithm is based on a direct multiple shooting discretization
that includes a collinear condition (a continuity condition type in the direct multiple
shooting method), multiple shooting structure, and approximation conditions. In the case
of monotone polygons, it is implemented by a C code, and a numerical example shows that
our algorithm significantly reduces the running time and memory usage of the system
Chi tiết xin mời tham khảo tại http://repository.vnu.edu.vn/handle/VNU_123/32674
Title: | Direct multiple shooting method for solving approximate shortest path problems |
Authors: | An, P. T. Hai, N. N. Hoai, T. V. |
Keywords: | Approximation algorithm;Direct multiple shooting method;Memory usage;Motion planning;Running time;Shortest path |
Issue Date: | 2013 |
Publisher: | ELSEVIER SCIENCE BV, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS |
Citation: | ISIKNOWLEDGE |
Description: | JOURNAL OF COMPUTATIONAL AND APPLIED MATHEMATICS Volume: 244 Pages: 67-76 Published: MAY 15 2013 ; TNS07265 |
URI: | http://repository.vnu.edu.vn/handle/VNU_123/32674 |
ISSN: | 1879-1778 |
Appears in Collections: | Bài báo của ĐHQGHN trong Web of Science |
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