Modified Newton’s method in the leapfrog method for mobile robot path planning
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Date
Authors
Matebese, Belinda
Withey, Daniel
Banda, M.K. (Mapundi)
Journal Title
Journal ISSN
Volume Title
Publisher
Springer
Abstract
The problem of determining an optimal trajectory for an autonomous mobile robot in an environment with obstacles is considered. The Leapfrog approach is used to solve the ensuing system of equations derived from the first-order optimality conditions of the Pontryagin’s Minimum Principle. A comparison is made between a case in which the classical Newton Method and the Modified Newton Method are used in the shooting method for solving the two-point boundary value problem in the inner loop of the Leapfrog algorithm. It can be observed that with this modification there is an improvement in the convergence rate of the Leapfrog algorithm in general.
Description
Keywords
Evolutionary algorithms, Two point boundary value problems, Optimal trajectories, Newton algorithm, First-order optimality condition, Autonomous mobile robot, Robot programming, Newton-Raphson method, Motion planning, Mobile robots, Collision avoidance, Boundary value problems, Trajectory planning, Obstacle avoidance, Leapfrog algorithm, Pontryagin’s minimum principle, Modified Newton algorithm
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Citation
Matebese B., Withey D., Banda M.K. (2018) Modified Newton’s Method in the Leapfrog Method for Mobile Robot Path Planning. In: Dash S., Naidu P., Bayindir R., Das S. (eds) Artificial Intelligence and Evolutionary Computations in Engineering Systems. Advances in Intelligent Systems and Computing, vol 668, pp. 71-78. Springer, Singapore.