Online motion planning based on swept volume search with replanning using sequential quadratic programming

Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...

Stabilized Sequential Quadratic Programming

Recently, Wright proposed a stabilized sequential quadratic programming algorithm for inequality constrained optimization. Assuming the Mangasarian-Fromovitz constraint qualification and the existence of a strictly positive multiplier (but possibly dependent constraint gradients), he proved a local quadratic convergence result. In this paper, we establish quadratic convergence in cases where bo...

Sequential Quadratic Programming Paul

Sequential Quadratic Programming �

Introduction Since its popularization in the late s Sequential Quadratic Program ming SQP has arguably become the most successful method for solving nonlinearly constrained optimization problems As with most optimization methods SQP is not a single algorithm but rather a conceptual method from which numerous speci c algorithms have evolved Backed by a solid theoretical and computational foundat...

Sequential Quadratic Programming Methods ∗

In his 1963 PhD thesis, Wilson proposed the first sequential quadratic programming (SQP) method for the solution of constrained nonlinear optimization problems. In the intervening 48 years, SQP methods have evolved into a powerful and effective class of methods for a wide range of optimization problems. We review some of the most prominent developments in SQP methods since 1963 and discuss the ...