QCQP-隧道：椭圆约束的Agent导航
QCQP-Tunneling: Ellipsoidal Constrained Agent Navigation
摘要：
针对完全未知和不可见连续环境下的在线路径规划问题，提出了一种基于凸QCQP的椭球约束智能体导航（ECAN）算法。ECAN计划路径的代理，使一个隧道的重叠椭圆，在一个在线的方式，通过环境。在椭球体形成步骤中的凸约束避免与障碍物的碰撞。在线隧穿问题被解决为凸QCQP。本文假设没有约束的形状的代理和障碍。然而，为了使方法更清晰，本文首先介绍了一个点质量代理点大小的障碍物的框架。在解释了绘制椭圆隧道的基本原理后，将框架扩展到具有有限面积（2d空间）和有限体积（3d空间）的代理和障碍物。
英文摘要：
This paper presents a convex-QCQP based novel path planning algorithm named ellipsoidal constrained agent navigation (ECAN), for a challenging problem of online path planning in completely unknown and unseen continuous environments. ECAN plans path for the agent by making a tunnel of overlapping ellipsoids, in an online fashion, through the environment. Convex constraints in the ellipsoid-formation step circumvent collision with the obstacles. The problem of online-tunneling is solved as a convex-QCQP. This paper assumes no constraints on shape of the agent and the obstacles. However, to make the approach clearer, this paper first introduces the framework for a point-mass agent with point-size obstacles. After explaining the underlying principle in drawing an ellipsoid tunnel, the framework is extended to the agent and obstacles having finite area (2d space) and finite-volume (3d-space).
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
