Safe Navigation With the Collision Avoidance of a Brownian Motion Obstacle
2017 ◽
Keyword(s):
This paper develops a control that combines deterministic and stochastic optimal control solutions to the problem of safe navigation around a spherical obstacle in order to reach a way-point location. The solution for navigation towards the way-point is based on the deterministic minimum time optimal control. Since the intent of the obstacle is unknown to the navigating vehicle, the vehicle anticipates this uncertainty and uses a stochastic optimal control for navigation around the obstacle. The two navigation solutions are combined based on their value functions. Results are illustrated by numerical simulations.
2007 ◽
Vol 45
(11-12)
◽
pp. 1284-1293
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1965 ◽
Vol 112
(3)
◽
pp. 543
◽
Keyword(s):
Keyword(s):
1980 ◽
Vol 34
(2)
◽
pp. 195-232