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.

This document is currently not available here.

Share

COinS
 
Nov 18th, 9:59 AM Nov 18th, 11:00 AM

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.