#### Presentation Title

Robot Path Planning using Integer Linear Programming

#### Faculty Mentor

Dr. Jillian Cannons

#### Start Date

18-11-2017 9:59 AM

#### End Date

18-11-2017 11:00 AM

#### Location

BSC-Ursa Minor 141

#### Session

Poster 1

#### Type of Presentation

Poster

#### Subject Area

physical_mathematical_sciences

#### Abstract

The algorithm we present focuses on a multi-target search path planning problem from ”An information theoretic based integer linear programming approach for the discrete search path planning problem” by J. Berger et al. In this problem, we focus on minimizing the target cell occupancy uncertainty, or entropy, within a given region. We formulate this search path planning problem as an integer linear programming problem and try to find the best path for the robots. This problem can become very large and complicated to solve analytically, so we implement the algorithm in MATLAB. The result is an optimized path for the robots in a specific region that we can map onto a grid.

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Robot Path Planning using Integer Linear Programming

BSC-Ursa Minor 141

The algorithm we present focuses on a multi-target search path planning problem from ”An information theoretic based integer linear programming approach for the discrete search path planning problem” by J. Berger et al. In this problem, we focus on minimizing the target cell occupancy uncertainty, or entropy, within a given region. We formulate this search path planning problem as an integer linear programming problem and try to find the best path for the robots. This problem can become very large and complicated to solve analytically, so we implement the algorithm in MATLAB. The result is an optimized path for the robots in a specific region that we can map onto a grid.