Path Planning in the Presence of Dynamically Moving Obstacles with Uncertainty

G. K. Singh; A. K. Gopal

doi:10.14429/dsj.60.107

G. K. Singh National Aerospace Laboratories, Bangalore
A. K. Gopal BAE Systems, Johannesburg

DOI: https://doi.org/10.14429/dsj.60.107

Abstract

In this paper, the problem of path-planning with dynamically moving elliptical obstacles is addressed. A new analytical result for computing the axes aligned bounding box for the ellipses with bounded uncertainty in the position of the centre and the orientation is presented. Genetic algorithm is utilised for finding the shortest path from the initial to goal position avoiding the moving obstacles.

Defence Science Journal, 2010, 60(1), pp.55-60, DOI:http://dx.doi.org/10.14429/dsj.60.107

Author Biographies

G. K. Singh, National Aerospace Laboratories, Bangalore

Dr G.K. Singh received his BTech (Aeronautical Engineering), MTech, and PhD (Electrical Engineering) from Indian Institute of Technology, Kanpur, in 1989, 1991, and 1999 respectively. Presently, he is a Scientist at the National Aerospace Laboratories, Bangalore since 1998. He is working on application of sliding mode controller designs to flight control. His main research interests are flight dynamics, control, and optimisation.

A. K. Gopal, BAE Systems, Johannesburg

Dr A.K. Gopal received MSc(Engineering) and PhD from the University of Natal in 2000 and 2003 respectively. He is currently a Senior Design Engineer at BAE Systems, in South Africa. He is responsible for establishing the Mobile, Intelligent, Autonomous Systems (MIAS)
Research Group at the CSIR in South Africa, in 2007, where he served as the Research Leader for 2007 and 2008.