Multiple Shooting Approach for Finding Approximate Shortest Paths for Autonomous Robots in Uncertain Environments in 2D
Người báo cáo: Nguyễn Thị Lê (Học viện An ninh nhân dân)

Thời gian: 9:00-10:00 AM thứ 4 ngày 19.01.2022

Link seminar:meet.google.com/gaq-qqdn-wzh

Tóm tắt báo cáo: An autonomous robot moving in an uncertain environment in 2D with a limited vision range finds a path to the goal. Avoiding polygonal obstacles, the robot may need to return to some positions marked in the past, the regions that the robot returns are modeled as sequences of line segments. This paper presents an algorithm for finding approximately shortest return paths along the sequences of line segments based on the method of multiple shooting. The algorithm is implemented in Python and some numerical examples are shown.

This work is done under the supervision of Phan Thanh An.