Modified Newton’s method in the leapfrog method for mobile robot path planning

dc.contributor.authorMatebese, Belinda
dc.contributor.authorWithey, Daniel
dc.contributor.authorBanda, M.K. (Mapundi)
dc.date.accessioned2018-11-15T06:10:13Z
dc.date.issued2018-03
dc.description.abstractThe 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.en_ZA
dc.description.departmentMathematics and Applied Mathematicsen_ZA
dc.description.embargo2019-03-20
dc.description.librarianhj2018en_ZA
dc.description.urihttp://www.springer.comseries/11156en_ZA
dc.identifier.citationMatebese 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.en_ZA
dc.identifier.issn2194-5357 (print)
dc.identifier.issn2194-5365 (online)
dc.identifier.other10.1007/978-981-10-7868-2_7
dc.identifier.urihttp://hdl.handle.net/2263/67266
dc.language.isoenen_ZA
dc.publisherSpringeren_ZA
dc.rights© Springer Nature Singapore Pte Ltd. 2018. The original publication is available at http://www.springer.comseries/11156.en_ZA
dc.subjectEvolutionary algorithmsen_ZA
dc.subjectTwo point boundary value problemsen_ZA
dc.subjectOptimal trajectoriesen_ZA
dc.subjectNewton algorithmen_ZA
dc.subjectFirst-order optimality conditionen_ZA
dc.subjectAutonomous mobile roboten_ZA
dc.subjectRobot programmingen_ZA
dc.subjectNewton-Raphson methoden_ZA
dc.subjectMotion planningen_ZA
dc.subjectMobile robotsen_ZA
dc.subjectCollision avoidanceen_ZA
dc.subjectBoundary value problemsen_ZA
dc.subjectTrajectory planningen_ZA
dc.subjectObstacle avoidanceen_ZA
dc.subjectLeapfrog algorithmen_ZA
dc.subjectPontryagin’s minimum principleen_ZA
dc.subjectModified Newton algorithmen_ZA
dc.titleModified Newton’s method in the leapfrog method for mobile robot path planningen_ZA
dc.typePostprint Articleen_ZA

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